Merge pull request #1442 from fspindle/feat_ci

Update macos ci

.github/workflows/macos-linux-conda.yml

@@ -3,8 +3,11 @@ name: MacOS-Linux-conda-CI
 on:
   pull_request:
     types: [opened, reopened, synchronize]
+
+# https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109
+# https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency
 concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
+  group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
   cancel-in-progress: true
 
 jobs:

.github/workflows/macos.yml

@@ -81,16 +81,13 @@ jobs:
 
     # Openblas location is exported explicitly because openblas is keg-only,
     # which means it was not symlinked into /usr/local/.
-    # qt@5 is as a requested dependency for vtk and thus for pcl 1.12.1
-    # qt@5 is keg-only, which means it was not symlinked into /usr/local that's why we need to set Qt5_DIR
     - name: Configure CMake
       run: |
         export LDFLAGS="-L/usr/local/opt/openblas/lib"
         export CPPFLAGS="-I/usr/local/opt/openblas/include"
-        export Qt5_DIR="$(brew --prefix qt5)/lib/cmake/Qt5"
         mkdir build
         cd build
-        cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/tmp/usr/local -DCMAKE_VERBOSE_MAKEFILE=ON -DQt5_DIR=$(brew --prefix qt5)/lib/cmake/Qt5
+        cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/tmp/usr/local -DCMAKE_VERBOSE_MAKEFILE=ON
         cat ViSP-third-party.txt
 
     - name: Compile

.vscode/settings.json

@@ -165,7 +165,8 @@
     "core": "cpp",
     "dense": "cpp",
     "stdvector": "cpp",
-    "numericaldiff": "cpp"
+    "numericaldiff": "cpp",
+    "source_location": "cpp"
   },
   "C_Cpp.vcFormat.indent.namespaceContents": false,
   "editor.formatOnSave": true,

3rdparty/apriltag/common/workerpool.cpp

@@ -26,7 +26,10 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 #include <errno.h>
 
+// To avoid "__USE_GNU" redefined 29 | #define __USE_GNU | In file included from /usr/include/errno.h
+#ifndef __USE_GNU
 #define __USE_GNU
+#endif
 #include <pthread.h>
 #include <sched.h>
 #include <assert.h>
@@ -45,184 +48,187 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "math_util.h"
 #include "string_util.h"
 
-struct workerpool {
-    int nthreads;
-    zarray_t *tasks;
-    int taskspos;
+struct workerpool
+{
+  int nthreads;
+  zarray_t *tasks;
+  int taskspos;
 
-    pthread_t *threads;
-    int *status;
+  pthread_t *threads;
+  int *status;
 
-    pthread_mutex_t mutex;
-    pthread_cond_t startcond;   // used to signal the availability of work
-    bool start_predicate;       // predicate that prevents spurious wakeups on startcond
-    pthread_cond_t endcond;     // used to signal completion of all work
+  pthread_mutex_t mutex;
+  pthread_cond_t startcond;   // used to signal the availability of work
+  bool start_predicate;       // predicate that prevents spurious wakeups on startcond
+  pthread_cond_t endcond;     // used to signal completion of all work
 
-    int end_count; // how many threads are done?
+  int end_count; // how many threads are done?
 };
 
 struct task
 {
-    void (*f)(void *p);
-    void *p;
+  void (*f)(void *p);
+  void *p;
 };
 
 void *worker_thread(void *p)
 {
-    workerpool_t *wp = (workerpool_t*) p;
+  workerpool_t *wp = (workerpool_t *)p;
 
-    while (1) {
-        struct task *task;
+  while (1) {
+    struct task *task;
 
-        pthread_mutex_lock(&wp->mutex);
-        while (wp->taskspos == zarray_size(wp->tasks) || !wp->start_predicate) {
-            wp->end_count++;
-            pthread_cond_broadcast(&wp->endcond);
-            pthread_cond_wait(&wp->startcond, &wp->mutex);
-        }
+    pthread_mutex_lock(&wp->mutex);
+    while (wp->taskspos == zarray_size(wp->tasks) || !wp->start_predicate) {
+      wp->end_count++;
+      pthread_cond_broadcast(&wp->endcond);
+      pthread_cond_wait(&wp->startcond, &wp->mutex);
+    }
 
-        zarray_get_volatile(wp->tasks, wp->taskspos, &task);
-        wp->taskspos++;
-        pthread_mutex_unlock(&wp->mutex);
-        sched_yield();
+    zarray_get_volatile(wp->tasks, wp->taskspos, &task);
+    wp->taskspos++;
+    pthread_mutex_unlock(&wp->mutex);
+    sched_yield();
 
-        // we've been asked to exit.
-        if (task->f == NULL)
-            return NULL;
+    // we've been asked to exit.
+    if (task->f == NULL)
+      return NULL;
 
-        task->f(task->p);
-    }
+    task->f(task->p);
+  }
 
-    return NULL;
+  return NULL;
 }
 
 workerpool_t *workerpool_create(int nthreads)
 {
-    assert(nthreads > 0);
-
-    workerpool_t *wp = (workerpool_t *)calloc(1, sizeof(workerpool_t));
-    wp->nthreads = nthreads;
-    wp->tasks = zarray_create(sizeof(struct task));
-    wp->start_predicate = false;
+  assert(nthreads > 0);
+
+  workerpool_t *wp = (workerpool_t *)calloc(1, sizeof(workerpool_t));
+  wp->nthreads = nthreads;
+  wp->tasks = zarray_create(sizeof(struct task));
+  wp->start_predicate = false;
+
+  if (nthreads > 1) {
+    wp->threads = (pthread_t *)calloc(wp->nthreads, sizeof(pthread_t));
+
+    pthread_mutex_init(&wp->mutex, NULL);
+    pthread_cond_init(&wp->startcond, NULL);
+    pthread_cond_init(&wp->endcond, NULL);
+
+    for (int i = 0; i < nthreads; i++) {
+      int res = pthread_create(&wp->threads[i], NULL, worker_thread, wp);
+      if (res != 0) {
+        perror("pthread_create");
+        // errno already set to EAGAIN by pthread_create() failure
+        return NULL;
+      }
+    }
 
-    if (nthreads > 1) {
-        wp->threads = (pthread_t *)calloc(wp->nthreads, sizeof(pthread_t));
-
-        pthread_mutex_init(&wp->mutex, NULL);
-        pthread_cond_init(&wp->startcond, NULL);
-        pthread_cond_init(&wp->endcond, NULL);
-
-        for (int i = 0; i < nthreads; i++) {
-            int res = pthread_create(&wp->threads[i], NULL, worker_thread, wp);
-            if (res != 0) {
-                perror("pthread_create");
-                // errno already set to EAGAIN by pthread_create() failure
-                return NULL;
-            }
-        }
-
-        // Wait for the worker threads to be ready
-        pthread_mutex_lock(&wp->mutex);
-        while (wp->end_count < wp->nthreads) {
-            pthread_cond_wait(&wp->endcond, &wp->mutex);
-        }
-        pthread_mutex_unlock(&wp->mutex);
+    // Wait for the worker threads to be ready
+    pthread_mutex_lock(&wp->mutex);
+    while (wp->end_count < wp->nthreads) {
+      pthread_cond_wait(&wp->endcond, &wp->mutex);
     }
+    pthread_mutex_unlock(&wp->mutex);
+  }
 
-    return wp;
+  return wp;
 }
 
 void workerpool_destroy(workerpool_t *wp)
 {
-    if (wp == NULL)
-        return;
-
-    // force all worker threads to exit.
-    if (wp->nthreads > 1) {
-        for (int i = 0; i < wp->nthreads; i++)
-            workerpool_add_task(wp, NULL, NULL);
-
-        pthread_mutex_lock(&wp->mutex);
-        wp->start_predicate = true;
-        pthread_cond_broadcast(&wp->startcond);
-        pthread_mutex_unlock(&wp->mutex);
-
-        for (int i = 0; i < wp->nthreads; i++)
-            pthread_join(wp->threads[i], NULL);
-
-        pthread_mutex_destroy(&wp->mutex);
-        pthread_cond_destroy(&wp->startcond);
-        pthread_cond_destroy(&wp->endcond);
-        free(wp->threads);
-    }
-
-    zarray_destroy(wp->tasks);
-    free(wp);
+  if (wp == NULL)
+    return;
+
+// force all worker threads to exit.
+  if (wp->nthreads > 1) {
+    for (int i = 0; i < wp->nthreads; i++)
+      workerpool_add_task(wp, NULL, NULL);
+
+    pthread_mutex_lock(&wp->mutex);
+    wp->start_predicate = true;
+    pthread_cond_broadcast(&wp->startcond);
+    pthread_mutex_unlock(&wp->mutex);
+
+    for (int i = 0; i < wp->nthreads; i++)
+      pthread_join(wp->threads[i], NULL);
+
+    pthread_mutex_destroy(&wp->mutex);
+    pthread_cond_destroy(&wp->startcond);
+    pthread_cond_destroy(&wp->endcond);
+    free(wp->threads);
+  }
+
+  zarray_destroy(wp->tasks);
+  free(wp);
 }
 
 int workerpool_get_nthreads(workerpool_t *wp)
 {
-    return wp->nthreads;
+  return wp->nthreads;
 }
 
 void workerpool_add_task(workerpool_t *wp, void (*f)(void *p), void *p)
 {
-    struct task t;
-    t.f = f;
-    t.p = p;
-
-    if (wp->nthreads > 1) {
-        pthread_mutex_lock(&wp->mutex);
-        zarray_add(wp->tasks, &t);
-        pthread_mutex_unlock(&wp->mutex);
-    } else {
-        zarray_add(wp->tasks, &t);
-    }
+  struct task t;
+  t.f = f;
+  t.p = p;
+
+  if (wp->nthreads > 1) {
+    pthread_mutex_lock(&wp->mutex);
+    zarray_add(wp->tasks, &t);
+    pthread_mutex_unlock(&wp->mutex);
+  }
+  else {
+    zarray_add(wp->tasks, &t);
+  }
 }
 
 void workerpool_run_single(workerpool_t *wp)
 {
-    for (int i = 0; i < zarray_size(wp->tasks); i++) {
-        struct task *task;
-        zarray_get_volatile(wp->tasks, i, &task);
-        task->f(task->p);
-    }
+  for (int i = 0; i < zarray_size(wp->tasks); i++) {
+    struct task *task;
+    zarray_get_volatile(wp->tasks, i, &task);
+    task->f(task->p);
+  }
 
-    zarray_clear(wp->tasks);
+  zarray_clear(wp->tasks);
 }
 
 // runs all added tasks, waits for them to complete.
 void workerpool_run(workerpool_t *wp)
 {
-    if (wp->nthreads > 1) {
-        pthread_mutex_lock(&wp->mutex);
-        wp->end_count = 0;
-        wp->start_predicate = true;
-        pthread_cond_broadcast(&wp->startcond);
+  if (wp->nthreads > 1) {
+    pthread_mutex_lock(&wp->mutex);
+    wp->end_count = 0;
+    wp->start_predicate = true;
+    pthread_cond_broadcast(&wp->startcond);
 
-        while (wp->end_count < wp->nthreads) {
+    while (wp->end_count < wp->nthreads) {
 //            printf("caught %d\n", wp->end_count);
-            pthread_cond_wait(&wp->endcond, &wp->mutex);
-        }
+      pthread_cond_wait(&wp->endcond, &wp->mutex);
+    }
 
-        wp->taskspos = 0;
-        wp->start_predicate = false;
-        pthread_mutex_unlock(&wp->mutex);
+    wp->taskspos = 0;
+    wp->start_predicate = false;
+    pthread_mutex_unlock(&wp->mutex);
 
-        zarray_clear(wp->tasks);
+    zarray_clear(wp->tasks);
 
-    } else {
-        workerpool_run_single(wp);
-    }
+  }
+  else {
+    workerpool_run_single(wp);
+  }
 }
 
 int workerpool_get_nprocs()
 {
 #ifdef _WIN32
-    SYSTEM_INFO sysinfo;
-    GetSystemInfo(&sysinfo);
-    return sysinfo.dwNumberOfProcessors;
+  SYSTEM_INFO sysinfo;
+  GetSystemInfo(&sysinfo);
+  return sysinfo.dwNumberOfProcessors;
 #else
-    return sysconf (_SC_NPROCESSORS_ONLN);
+  return sysconf(_SC_NPROCESSORS_ONLN);
 #endif
 }

README.md

@@ -6,7 +6,7 @@
 Platform | Build Status |
 -------- | ------------ |
 Ubuntu 20.04, 22.04 (amd64)| [![ubuntu dep apt workflow](https://github.com/lagadic/visp/actions/workflows/ubuntu-dep-apt.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/ubuntu-dep-apt.yml) [![ubuntu dep src workflow](https://github.com/lagadic/visp/actions/workflows/ubuntu-dep-src.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/ubuntu-dep-src.yml)
-macOS 11 and 12 | [![macos workflow](https://github.com/lagadic/visp/actions/workflows/macos.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/macos.yml)
+macOS 13 and 14 | [![macos workflow](https://github.com/lagadic/visp/actions/workflows/macos.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/macos.yml)
 iOS on macOS 11.0| [![ios workflow](https://github.com/lagadic/visp/actions/workflows/ios.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/ios.yml)
 Windows 10 | [![Build status](https://ci.appveyor.com/api/projects/status/121dscdkryf5dbn0/branch/master?svg=true)](https://ci.appveyor.com/project/fspindle/visp/branch/master)
 Other arch Ubuntu 22.04 (aarch64, s390x)| [![other arch workflow](https://github.com/lagadic/visp/actions/workflows/other-arch.yml/badge.svg)](https://github.com/lagadic/visp/actions/workflows/other-arch.yml)

modules/vision/test/keypoint-with-dataset/testKeyPoint-2.cpp

@@ -189,7 +189,7 @@ void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_dis
   // Load config for tracker
   std::string tracker_config_file = vpIoTools::createFilePath(env_ipath, "mbt/cube.xml");
 
-#if defined(VISP_HAVE_PUGYXML)
+#if defined(VISP_HAVE_PUGIXML)
   tracker.loadConfigFile(tracker_config_file);
   tracker.getCameraParameters(cam);
 #else

modules/vision/test/keypoint-with-dataset/testKeyPoint-4.cpp

@@ -191,7 +191,7 @@ void run_test(const std::string &env_ipath, bool opt_click_allowed, bool opt_dis
   // Load config for tracker
   std::string tracker_config_file = vpIoTools::createFilePath(env_ipath, "mbt/cube.xml");
 
-#if defined(VISP_HAVE_PUGYXML)
+#if defined(VISP_HAVE_PUGIXML)
   tracker.loadConfigFile(tracker_config_file);
   tracker.getCameraParameters(cam);
 #else