From 8596de861751b6646115ea549b56eea982d80eb0 Mon Sep 17 00:00:00 2001
From: Ignacio Vizzo <ignacio@dexory.com>
Date: Wed, 10 Jul 2024 09:12:08 +0200
Subject: [PATCH] Fix Ubuntu 20.04 dev build (#361)

* Add a new job just to proof the build is now broken

* force 22.04 to make sure it's only a 20.04 problem

* Revert "force 22.04 to make sure it's only a 20.04 problem"

This reverts commit e1b5e0276273f1176b3bb2ab2b9ccbc56fcccce0.

* Add cache to ci build

* Attempt to fix build in Ubuntu 20.04

* add this comment just to annoy ourselves
---
 .github/workflows/cpp.yml          | 29 +++++++++++++++++++++++++++++
 cpp/kiss_icp/core/Deskew.cpp       |  1 +
 cpp/kiss_icp/core/Registration.cpp |  4 +++-
 3 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cpp.yml b/.github/workflows/cpp.yml
index 131dda9e..bbb8ef8a 100644
--- a/.github/workflows/cpp.yml
+++ b/.github/workflows/cpp.yml
@@ -25,3 +25,32 @@ jobs:
         run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp/kiss_icp
       - name: Build
         run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+  # As the previous job will always install the dependencies from cmake, and this is guaranteed to
+  # work, we also want to support dev sandboxes where the main dependencies are already
+  # pre-installed in the system. For now, we only support dev machines under a GNU/Linux
+  # environmnets. If you are reading this and need the same functionallity in Windows/macOS please
+  # open a ticket.
+  cpp_api_dev:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-20.04]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Cache dependencies
+        uses: actions/cache@v2
+        with:
+          path: ~/.apt/cache
+          key: ${{ runner.os }}-apt-${{ hashFiles('**/ubuntu_dependencies.yml') }}
+          restore-keys: |
+            ${{ runner.os }}-apt-
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libeigen3-dev libtbb-dev
+      - name: Configure CMake
+        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp/kiss_icp
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
diff --git a/cpp/kiss_icp/core/Deskew.cpp b/cpp/kiss_icp/core/Deskew.cpp
index 9b721fe2..fe20b77e 100644
--- a/cpp/kiss_icp/core/Deskew.cpp
+++ b/cpp/kiss_icp/core/Deskew.cpp
@@ -39,6 +39,7 @@ std::vector<Eigen::Vector3d> DeSkewScan(const std::vector<Eigen::Vector3d> &fram
                                         const Sophus::SE3d &delta) {
     const auto delta_pose = delta.log();
     std::vector<Eigen::Vector3d> corrected_frame(frame.size());
+    // TODO(All): This tbb execution is ignoring the max_n_threads config value
     tbb::parallel_for(size_t(0), frame.size(), [&](size_t i) {
         const auto motion = Sophus::SE3d::exp((timestamps[i] - mid_pose_timestamp) * delta_pose);
         corrected_frame[i] = motion * frame[i];
diff --git a/cpp/kiss_icp/core/Registration.cpp b/cpp/kiss_icp/core/Registration.cpp
index d7adb4df..137fa50c 100644
--- a/cpp/kiss_icp/core/Registration.cpp
+++ b/cpp/kiss_icp/core/Registration.cpp
@@ -26,6 +26,7 @@
 #include <tbb/global_control.h>
 #include <tbb/info.h>
 #include <tbb/parallel_reduce.h>
+#include <tbb/task_arena.h>
 
 #include <algorithm>
 #include <cmath>
@@ -171,7 +172,8 @@ Registration::Registration(int max_num_iteration, double convergence_criterion,
     : max_num_iterations_(max_num_iteration),
       convergence_criterion_(convergence_criterion),
       // Only manipulate the number of threads if the user specifies something greater than 0
-      max_num_threads_(max_num_threads > 0 ? max_num_threads : tbb::info::default_concurrency()) {
+      max_num_threads_(max_num_threads > 0 ? max_num_threads
+                                           : tbb::this_task_arena::max_concurrency()) {
     // This global variable requires static duration storage to be able to manipulate the max
     // concurrency from TBB across the entire class
     static const auto tbb_control_settings = tbb::global_control(