Fix clang build for macOS users (#73)

PRBonn · Feb 21, 2023 · 0879030 · 0879030
1 parent c8ce571
commit 0879030
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Showing 3 changed files with 26 additions and 11 deletions.
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -46,7 +46,7 @@ clang-format:
     - clang-format -Werror --dry-run $(find . -regextype posix-extended -regex ".*\.(cpp|hpp|h)")
 
 #----- build stage ---------------------------------------------------------------------------------
-cpp_api:
+cpp_api:gcc:
   image: ubuntu:22.04
   stage: build
   before_script:
@@ -55,6 +55,15 @@ cpp_api:
     - cmake -Bbuild src/cpp/kiss_icp/
     - cmake --build build -j$(nproc --all)
 
+cpp_api:clang:
+  image: ubuntu:22.04
+  stage: build
+  before_script:
+    - apt-get update && apt-get install --no-install-recommends -y clang cmake make
+  script:
+    - cmake cmake -DCMAKE_CXX_COMPILER=clang++ -Bbuild src/cpp/kiss_icp/
+    - cmake --build build -j$(nproc --all)
+
 pip_package:
   image: python:3.8
   stage: build

diff --git a/src/cpp/kiss_icp/core/Deskew.cpp b/src/cpp/kiss_icp/core/Deskew.cpp
@@ -53,7 +53,11 @@ Vector3dVector MotionCompensator::DeSkewScan(const std::vector<Eigen::Vector3d>
                                              const Eigen::Isometry3d &start_pose,
                                              const Eigen::Isometry3d &finish_pose) {
     // Estimate linear and angular velocities
-    const auto [lvel, avel] = VelocityEstimation(start_pose, finish_pose, scan_duration_);
+    const auto [lv, av] = VelocityEstimation(start_pose, finish_pose, scan_duration_);
+
+    // Compile in clang for macOS: https://stackoverflow.com/questions/46114214
+    const auto &linear_velocity = lv;
+    const auto &angular_velocity = av;
 
     // TODO(Nacho) Add explanation of this
     std::vector<double> timestamps_ = timestamps;
@@ -63,8 +67,8 @@ Vector3dVector MotionCompensator::DeSkewScan(const std::vector<Eigen::Vector3d>
 
     std::vector<Eigen::Vector3d> corrected_frame(frame.size());
     tbb::parallel_for(size_t(0), frame.size(), [&](size_t i) {
-        const auto &dt = timestamps_[i];
-        const auto motion = MakeTransform(dt * lvel, dt * avel);
+        const auto dt = timestamps_[i];
+        const auto motion = MakeTransform(dt * linear_velocity, dt * angular_velocity);
         corrected_frame[i] = motion * frame[i];
     });
     return corrected_frame;

diff --git a/src/cpp/kiss_icp/core/VoxelHashMap.cpp b/src/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -134,8 +134,9 @@ VoxelHashMap::Vector3dVectorTuple VoxelHashMap::GetCorrespondences(
         // 1st lambda: Paralell computation
         [&](const tbb::blocked_range<points_iterator> &r, ResultTuple res) -> ResultTuple {
             auto &[src, tgt] = res;
-            auto &source_private = src;  // compile on clang
-            auto &target_private = tgt;  // compile on clang
+            // Compile in clang for macOS: https://stackoverflow.com/questions/46114214
+            auto &source_private = src;
+            auto &target_private = tgt;
             source_private.reserve(r.size());
             target_private.reserve(r.size());
             std::for_each(r.begin(), r.end(), [&](const auto &point) {
@@ -150,12 +151,13 @@ VoxelHashMap::Vector3dVectorTuple VoxelHashMap::GetCorrespondences(
         // 2st lambda: Parallell reduction
         [&](ResultTuple a, const ResultTuple &b) -> ResultTuple {
             auto &[src, tgt] = a;
-            auto &source = src;  // compile on clang
-            auto &target = tgt;  // compile on clang
             const auto &[srcp, tgtp] = b;
-            auto &source_private = srcp;  // compile on clang
-            auto &target_private = tgtp;  // compile on clang
-            source.insert(source.end(),   //
+            // Compile in clang for macOS: https://stackoverflow.com/questions/46114214
+            auto &source = src;
+            auto &target = tgt;
+            auto &source_private = srcp;
+            auto &target_private = tgtp;
+            source.insert(source.end(),  //
                           std::make_move_iterator(source_private.begin()),
                           std::make_move_iterator(source_private.end()));
             target.insert(target.end(),  //