Merge pull request #1271 from fspindle/fix_cxx17

Improve cxx17 standard detection

.github/workflows/macos-ustk.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-11, macos-12]
+        os: [macos-12]
 
     steps:
     # https://github.com/marketplace/actions/cancel-workflow-action
@@ -34,7 +34,7 @@ jobs:
       run: system_profiler SPSoftwareDataType
 
     - name: Install dependencies
-      run: brew install libpng libjpeg libdc1394 opencv pcl librealsense zbar vtk fftw armadillo nlohmann-json
+      run: brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
 
     - name: Clone visp-images
       env:

.github/workflows/macos.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-11, macos-12]
+        os: [macos-12]
 
     steps:
     # https://github.com/marketplace/actions/cancel-workflow-action
@@ -34,7 +34,7 @@ jobs:
       run: system_profiler SPSoftwareDataType
 
     - name: Install dependencies
-      run: brew install libpng libjpeg libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
+      run: brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
 
     - name: Install java dependencies
       run: |
@@ -87,18 +87,7 @@ jobs:
         make -j$(sysctl -n hw.logicalcpu)
 
     - name: ViSP as 3rdparty with visp.pc and pkg-config
-      if: matrix.os != 'macOS-10.15'
       run: |
-        # With macOS 10.15 there is the following build error:
-        # /Applications/Xcode_12.4.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/cmath:317:9:
-        #   error: no member named 'signbit' in the global namespace
-        #   using ::signbit;
-        # also reported here https://stackoverflow.com/questions/58313047/cannot-compile-r-packages-with-c-code-after-updating-to-macos-catalina
-        # As suggested adding -isysroot build flag in VISPGenerateConfigScript.cmake around line 149 with
-        #   execute_process(COMMAND xcrun --show-sdk-path
-        #                   OUTPUT_VARIABLE SDK_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
-        #   list(APPEND _cxx_flags "-isysroot ${SDK_PATH}")
-        # doesn't fix the build issue. That's why here the test is only done for macOS 11.0
         cd ${HOME}/visp_sample
         export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
         pkg-config --cflags visp
@@ -107,7 +96,6 @@ jobs:
         make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp.pc clean
 
     - name: ViSP as 3rdparty with visp-config
-      if: matrix.os != 'macos-10.15'
       run: |
         cd ${HOME}/visp_sample
         export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig

.github/workflows/ubuntu-dep-src.yml

@@ -128,7 +128,14 @@ jobs:
         cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install
         cat ViSP-third-party.txt
 
-    - name: Compile
+    - name: Build visp-config script
+      working-directory: build
+      run: |
+        make -j$(nproc) developer_scripts
+        ./bin/visp-config --cflags
+        ./bin/visp-config --libs
+
+    - name: Build and install ViSP
       working-directory: build
       run: |
         make -j$(nproc) install

CMakeLists.txt

@@ -600,6 +600,16 @@ endif()
 
 # Upgrade c++ standard to 14 for pcl 1.9.1.99 that enables by default c++ 14 standard
 if(USE_PCL)
+  # PCL is used in modules gui, sensor and mbt.
+  # In these modules we cannot directly use PCL_INCLUDE_DIRS and PCL_LIBRARIES using:
+  #   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
+  #   list(APPEND opt_libs ${PCL_LIBRARIES})
+  # Using PCL_LIBRARIES works to build visp libraries, embedded examples, demos, tests and tutorials thanks to the
+  # components. But when examples, demos, tests and tutorials are build outside ViSP workspace as independent projects
+  # that are using ViSP as 3rd-party we lead to build issues due to VTK headers and libraries that are not found.
+  # That's why here, we are using vp_find_pcl() macro that will set PCL_DEPS_INCLUDE_DIRS and PCL_DEPS_LIBRARIES
+  # that contains also VTK material location.
+  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
   if(PCL_VERSION VERSION_GREATER 1.9.1)
     # pcl > 1.9.1 requires c++14
     # if c++14 option is OFF, force to c++14

ChangeLog.txt

@@ -25,6 +25,8 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-rgbd-Blender.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
+    . [#1270] Build issue around std::clamp and optional header which are not found with cxx17
+      standard enabled
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:

cmake/PCLTools.cmake

@@ -33,10 +33,40 @@
 #
 #############################################################################
 
+# Remove BUILD_INTERFACE from __include_dirs
+# IN/OUT: __include_dirs
+#
+# If __include_dirs contains "$<BUILD_INTERFACE:/home/VTK/install/include/vtk-9.3>" as input,
+# it will be filtered as output to /home/VTK/install/include/vtk-9.3
+macro(vp_filter_build_interface __include_dirs)
+  if(${__include_dirs})
+    set(__include_dirs_filtered)
+    foreach(inc_ ${${__include_dirs}})
+      string(REGEX REPLACE "\\$<BUILD_INTERFACE:" "" inc_ ${inc_})
+      string(REGEX REPLACE ">" "" inc_ ${inc_})
+      list(APPEND __include_dirs_filtered ${inc_})
+    endforeach()
+
+    set(${__include_dirs} ${__include_dirs_filtered})
+  endif()
+endmacro()
+
 # Find pcl libraries and dependencies
 # IN: pcl_libraries
 # OUT: pcl_deps_include_dirs
 # OUT: pcl_deps_libraries
+#
+# PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
+# full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
+# The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
+# is able to find the real name and location of the libraries.
+# But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
+# PCL_LIBRARIES and especially with VTK_LIBRARIES.
+# The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
+# with these names.
+# An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
+# will be not able to give the names of PCL libraries when used without CMake.
+#
 macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   foreach(lib_ ${${pcl_libraries}})
     mark_as_advanced(${lib_}_LOCATION)
@@ -97,6 +127,10 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
       endforeach()
       vp_list_unique(PCL_VTK_IMPORTED_LIBS)
       vp_list_unique(PCL_VTK_IMPORTED_INCS)
+
+      # Filter "$<BUILD_INTERFACE:/home/VTK/install/include/vtk-9.3>" into /home/VTK/install/include/vtk-9.3
+      vp_filter_build_interface(PCL_VTK_IMPORTED_INCS)
+
       list(APPEND ${pcl_deps_include_dirs} ${PCL_VTK_IMPORTED_INCS})
 
       # Filter "\$<LINK_ONLY:vtkCommonMath>;\$<LINK_ONLY:opengl32>;\$<LINK_ONLY:glu32>" into "vtkCommonMath;opengl32;glu32"
@@ -159,6 +193,10 @@ macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
       endforeach()
       vp_list_unique(PCL_VTK_IMPORTED_LIBS)
       vp_list_unique(PCL_VTK_IMPORTED_INCS)
+
+      # Filter "$<BUILD_INTERFACE:/home/VTK/install/include/vtk-9.3>" into /home/VTK/install/include/vtk-9.3
+      vp_filter_build_interface(PCL_VTK_IMPORTED_INCS)
+
       list(APPEND ${pcl_deps_include_dirs} ${PCL_VTK_IMPORTED_INCS})
 
       while(PCL_VTK_IMPORTED_LIBS)

cmake/VISPDetectCXXStandard.cmake

@@ -8,12 +8,27 @@ if(DEFINED USE_CXX_STANDARD)
   if(USE_CXX_STANDARD STREQUAL "11")
     set(CMAKE_CXX_STANDARD 11)
     set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_11})
+    vp_check_compiler_flag(CXX "-std=c++11" HAVE_STD_CXX11_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx11.cpp")
+    if(HAVE_STD_CXX11_FLAG)
+      set(CXX11_CXX_FLAGS "-std=c++11" CACHE STRING "C++ compiler flags for C++11 support")
+      mark_as_advanced(HAVE_STD_CXX11_FLAG)
+    endif()
   elseif(USE_CXX_STANDARD STREQUAL "14")
     set(CMAKE_CXX_STANDARD 14)
     set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_14})
+    vp_check_compiler_flag(CXX "-std=c++14" HAVE_STD_CXX14_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx14.cpp")
+    if(HAVE_STD_CXX14_FLAG)
+      set(CXX14_CXX_FLAGS "-std=c++14" CACHE STRING "C++ compiler flags for C++14 support")
+      mark_as_advanced(HAVE_STD_CXX14_FLAG)
+    endif()
   elseif(USE_CXX_STANDARD STREQUAL "17")
     set(CMAKE_CXX_STANDARD 17)
     set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_17})
+    vp_check_compiler_flag(CXX "-std=c++17" HAVE_STD_CXX17_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx17.cpp")
+    if(HAVE_STD_CXX17_FLAG)
+      set(CXX17_CXX_FLAGS "-std=c++17" CACHE STRING "C++ compiler flags for C++17 support")
+      mark_as_advanced(HAVE_STD_CXX17_FLAG)
+    endif()
   endif()
 
   set(CMAKE_CXX_EXTENSIONS OFF) # use -std=c++11 instead of -std=gnu++11
@@ -30,19 +45,43 @@ else()
     # That's why we check more in depth for cxx_override that is not available with g++ 4.6.3
     list (FIND CMAKE_CXX11_COMPILE_FEATURES "cxx_override" _index)
     if (${_index} GREATER -1)
-      set(CXX11_STANDARD_FOUND ON CACHE STRING "cxx11 standard")
-      mark_as_advanced(CXX11_STANDARD_FOUND)
+      # Setting CMAKE_CXX_STANDARD doesn't affect check_cxx_source_compiles() used to detect isnan() in FindIsNaN.cmake
+      # or erfc() in FindErfc.cmake.
+      # That's why we have the following lines that are used to set cxx flags corresponding to the c++ standard
+      vp_check_compiler_flag(CXX "-std=c++11" HAVE_STD_CXX11_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx11.cpp")
+      if(HAVE_STD_CXX11_FLAG)
+        set(CXX11_CXX_FLAGS "-std=c++11" CACHE STRING "C++ compiler flags for C++11 support")
+        set(CXX11_STANDARD_FOUND ON CACHE STRING "cxx11 standard")
+        mark_as_advanced(CXX11_STANDARD_FOUND)
+        mark_as_advanced(CXX11_CXX_FLAGS)
+        mark_as_advanced(HAVE_STD_CXX11_FLAG)
+      endif()
     endif()
   endif()
 
   if(CMAKE_CXX14_COMPILE_FEATURES)
-    set(CXX14_STANDARD_FOUND ON CACHE STRING "cxx14 standard")
-    mark_as_advanced(CXX14_STANDARD_FOUND)
+    # Additionnal check in case of c++14 is incomplete and also needed to set CXX14_CXX_FLAGS
+    vp_check_compiler_flag(CXX "-std=c++14" HAVE_STD_CXX14_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx14.cpp")
+    if(HAVE_STD_CXX14_FLAG)
+      set(CXX14_CXX_FLAGS "-std=c++14" CACHE STRING "C++ compiler flags for C++14 support")
+      set(CXX14_STANDARD_FOUND ON CACHE STRING "cxx14 standard")
+      mark_as_advanced(CXX14_STANDARD_FOUND)
+      mark_as_advanced(CXX14_CXX_FLAGS)
+      mark_as_advanced(HAVE_STD_CXX14_FLAG)
+    endif()
   endif()
 
   if(CMAKE_CXX17_COMPILE_FEATURES)
-    set(CXX17_STANDARD_FOUND ON CACHE STRING "cxx17 standard")
-    mark_as_advanced(CXX17_STANDARD_FOUND)
+    # c++17 seems available, but on Fedora 25 and g++ 6.3.1 it seems incomplete where
+    # optional header is not found as well as std::clamp()
+    vp_check_compiler_flag(CXX "-std=c++17" HAVE_STD_CXX17_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx17.cpp")
+    if(HAVE_STD_CXX17_FLAG)
+      set(CXX17_CXX_FLAGS "-std=c++17" CACHE STRING "C++ compiler flags for C++17 support")
+      set(CXX17_STANDARD_FOUND ON CACHE STRING "cxx17 standard")
+      mark_as_advanced(CXX17_STANDARD_FOUND)
+      mark_as_advanced(CXX17_CXX_FLAGS)
+      mark_as_advanced(HAVE_STD_CXX17_FLAG)
+    endif()
   endif()
 
   # Set default c++ standard to 17, the first in the list
@@ -83,26 +122,4 @@ else()
         set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_17})
     endif()
   endif()
-
-endif()
-
-# Setting CMAKE_CXX_STANDARD doesn't affect check_cxx_source_compiles() used to detect isnan() in FindIsNaN.cmake
-# or erfc() in FindErfc.cmake.
-# That's why we have the following lines that are used to set cxx flags corresponding to the c++ standard
-vp_check_compiler_flag(CXX "-std=c++11" HAVE_STD_CXX11_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx11.cpp")
-if(HAVE_STD_CXX11_FLAG)
-  set(CXX11_CXX_FLAGS "-std=c++11" CACHE STRING "C++ compiler flags for C++11 support")
-  mark_as_advanced(CXX11_CXX_FLAGS)
-endif()
-
-vp_check_compiler_flag(CXX "-std=c++14" HAVE_STD_CXX14_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx14.cpp")
-if(HAVE_STD_CXX14_FLAG)
-  set(CXX14_CXX_FLAGS "-std=c++14" CACHE STRING "C++ compiler flags for C++14 support")
-  mark_as_advanced(CXX14_CXX_FLAGS)
-endif()
-
-vp_check_compiler_flag(CXX "-std=c++17" HAVE_STD_CXX17_FLAG "${PROJECT_SOURCE_DIR}/cmake/checks/cxx17.cpp")
-if(HAVE_STD_CXX17_FLAG)
-  set(CXX17_CXX_FLAGS "-std=c++17" CACHE STRING "C++ compiler flags for C++17 support")
-  mark_as_advanced(CXX17_CXX_FLAGS)
 endif()

modules/gui/CMakeLists.txt

@@ -65,22 +65,8 @@ endif()
 
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()

modules/sensor/CMakeLists.txt

@@ -99,22 +99,8 @@ if(USE_FTIITSDK)
 endif()
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()

modules/tracker/mbt/CMakeLists.txt

@@ -108,22 +108,8 @@ endif()
 
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()