feat: implement libpointmatcher turnkey install scripts for user who have cloned the repo

.env.libpointmatcher

@@ -23,7 +23,7 @@ PROJECT_SRC_NAME="$( basename ${PROJECT_PATH} )"
 # Note: Those with "PROJECT_" prefix will get eventualy overiden in the case where N2ST is used
 #       as a library. Using generic testing logic require that environment variables with
 #       "PROJECT_" prefix be available.
-LPM_PROMPT_NAME="${PROJECT_PROMPT_NAME"
+LPM_PROMPT_NAME="${PROJECT_PROMPT_NAME}"
 LPM_GIT_REMOTE_URL="${PROJECT_GIT_REMOTE_URL}"
 LPM_GIT_NAME="${PROJECT_GIT_NAME}"
 LPM_PATH="${PROJECT_PATH}"

.github/CODEOWNERS

@@ -11,18 +11,26 @@
 # These owners will be the default owners for everything in the repo.
 #*       @pomerlef
 
-# ....Core directories and files...................................................................
+
+# ....High level files.............................................................................
 /README.md @pomerlef
 /LICENSE @pomerlef
+
+# ....Core directories and files...................................................................
+/doc @boxanm @simonpierredeschenes @aguenette @pomerlef
 /pointmatcher @boxanm @simonpierredeschenes @aguenette
 /python @boxanm @simonpierredeschenes @aguenette
 /utest @boxanm @simonpierredeschenes @aguenette
+/examples @boxanm @simonpierredeschenes @aguenette
+
+# ....User install tools...........................................................................
 /.env.libpointmatcher @RedLeader962
+/libpointmatcher_installer.bash @RedLeader962
+/libpointmatcher_dependencies_installer.bash @RedLeader962
 
 # ....DevOps related...............................................................................
 /.github/ @RedLeader962
 /build_system/ @RedLeader962
-/build_system/utilities @RedLeader962
 /.gitmodules @RedLeader962
 /.gitignore @RedLeader962
 /.dockerignore @RedLeader962

README.md

@@ -1,10 +1,39 @@
-[![Mentioned in Awesome LIDAR](https://awesome.re/mentioned-badge.svg)](https://github.com/szenergy/awesome-lidar#basic-matching-algorithms) Awesome LIDAR; [![Mentioned in Awesome Robotics Libraries](https://awesome.re/mentioned-badge.svg)](http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping) Awesome Robotics Libraries; [![Mentioned in Awesome Robotics](https://awesome.re/mentioned-badge.svg)](https://github.com/ahundt/awesome-robotics#point-clouds) Awesome Robotics
+<div align="center">
+
 ![banner](doc/images/banner_light.jpeg)
 
+[//]: # (====Awesome badges=======================================================================)
 
----
+[![Mentioned in Awesome LIDAR](https://awesome.re/mentioned-badge.svg)](https://github.com/szenergy/awesome-lidar#basic-matching-algorithms)
+&nbsp; &nbsp; &nbsp;
+[![Mentioned in Awesome Robotics Libraries](https://awesome.re/mentioned-badge.svg)](http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping)
+&nbsp; &nbsp; &nbsp;
+[![Mentioned in Awesome Robotics](https://awesome.re/mentioned-badge.svg)](https://github.com/ahundt/awesome-robotics#point-clouds)
+<br>
+<sup> 
+&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
+<a href="https://github.com/szenergy/awesome-lidar#basic-matching-algorithms">LIDAR</a>
+&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
+<a href="https://github.com/ahundt/awesome-robotics#point-clouds">Robotics</a>
+&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
+<a href="http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping">Robotics Libraries</a>
+</sup>
+
+
+[//]: # (====GitHub badges========================================================================)
+
+<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/norlab-ulaval/libpointmatcher">
+<img alt="GitHub forks" src="https://img.shields.io/github/forks/norlab-ulaval/libpointmatcher">
+<img alt="GitHub License" src="https://img.shields.io/github/license/norlab-ulaval/libpointmatcher">
+<img alt="GitHub release (with filter)" src="https://img.shields.io/github/v/release/norlab-ulaval/libpointmatcher">
+<img src="https://img.shields.io/static/v1?label=JetBrains TeamCity&message=CI/CD&color=green?style=plastic&logo=teamcity" />
+<br>
+<br>
+</div>
 
 
+[//]: # (====Supported OS and aarch===============================================================)
+
 `libpointmatcher` is tested on our build system under the following architecture and OS:
 - x86 and arm64/v8
 - Ubuntu bionic (18.04) and focal (20.04)  
@@ -13,14 +42,10 @@ Note:
 - support for Ubuntu jammy (22.04) comming soon
 - `libpointmatcher` reportedly works on MacOs OsX (latest) and Windows (latest)
 
-<div align="center">
-<img src="https://img.shields.io/static/v1?label=powered by JetBrains TeamCity&message=CI/CD&color=green?style=plastic&logo=teamcity" />
-</div>
 
-<br>
-<br>
+---
 
-<div style="padding: 20px;padding-top: 5px;padding-bottom: 5px; margin-top:20px;margin-bottom:20px; border: 2px solid LightGray; border-radius:10px;">
+[//]: # (====Release note=========================================================================)
 
 ### ★ Version `1.4.0` release note (important)
 This release of _libpointmatcher_ introduces the integration of [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) as a _git submodule_ for codebase development and testing.
@@ -33,8 +58,8 @@ If _libpointmatcher_ was previously cloned, execute the following to fetch its n
 ```shell
 git submodule update --remote --recursive --init
 ```
-</div>
 
+[//]: # (====Body=================================================================================)
 # Documentation and Tutorials
 
 libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision.

build_system/.jetbrains_run_config/(HELP) bash libpointmatcher_installer.bash › --help menu.run.xml

@@ -0,0 +1,19 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="(HELP) bash libpointmatcher_installer.bash › --help menu" type="ShConfigurationType" folderName="[LPM] D | help menu">
+    <option name="SCRIPT_TEXT" value="bash libpointmatcher_installer.bash --help" />
+    <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
+    <option name="SCRIPT_PATH" value="" />
+    <option name="SCRIPT_OPTIONS" value="" />
+    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
+    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
+    <option name="INTERPRETER_PATH" value="/bin/zsh" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
+    <option name="EXECUTE_SCRIPT_FILE" value="false" />
+    <envs>
+      <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
+    </envs>
+    <method v="2" />
+  </configuration>
+</component>

build_system/.jetbrains_run_config/(HELP) bash lpm_execute_compose._ › --help menu.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="(HELP) bash lpm_crawl.* › --help menu" type="ShConfigurationType" folderName="[LPM] B | dry-run">
+  <configuration default="false" name="(HELP) bash lpm_crawl.* › --help menu" type="ShConfigurationType" folderName="[LPM] D | help menu">
     <option name="SCRIPT_TEXT" value="bash lpm_crawl_libpointmatcher_build_matrix.bash --help" />
     <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
     <option name="SCRIPT_PATH" value="" />

build_system/.jetbrains_run_config/(HELP) bash lpm_install_libpointmatcher_ubuntu.bash › --help menu.run.xml

@@ -0,0 +1,19 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="(HELP) bash lpm_install_libpointmatcher_ubuntu.bash › --help menu" type="ShConfigurationType" folderName="[LPM] D | help menu">
+    <option name="SCRIPT_TEXT" value="bash lpm_install_libpointmatcher_ubuntu.bash --help" />
+    <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
+    <option name="SCRIPT_PATH" value="" />
+    <option name="SCRIPT_OPTIONS" value="" />
+    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
+    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system/ubuntu" />
+    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
+    <option name="INTERPRETER_PATH" value="/bin/zsh" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
+    <option name="EXECUTE_SCRIPT_FILE" value="false" />
+    <envs>
+      <env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
+    </envs>
+    <method v="2" />
+  </configuration>
+</component>

build_system/lpm_crawl_dependencies_build_matrix.bash

@@ -22,18 +22,18 @@ NBS_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-build-system"
 N2ST_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools"
 
 # ....Load environment variables from file.........................................................
-cd "${LPM_BUILD_SYSTEM_PATH}" || exit
+cd "${LPM_BUILD_SYSTEM_PATH}" || exit 1
 set -o allexport && source .env && set +o allexport
 
 # ....Source NBS dependencies......................................................................
-cd "${NBS_PATH}" || exit
+cd "${NBS_PATH}" || exit 1
 source import_norlab_build_system_lib.bash
 
 # ====begin========================================================================================
-cd "${NBS_PATH}/src/utility_scripts" || exit
+cd "${NBS_PATH}/src/utility_scripts" || exit 1
 
 DOTENV_BUILD_MATRIX_REALPATH=${LPM_BUILD_SYSTEM_PATH}/.env.build_matrix.dependencies
 
-# Note: do not double cote PARAMS or threat it as a array otherwise it will cause error
+# Note: do not double quote PARAMS or threat it as a array otherwise it will cause error
 # shellcheck disable=SC2086
 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS

build_system/lpm_crawl_libpointmatcher_build_matrix.bash

@@ -22,19 +22,19 @@ NBS_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-build-system"
 N2ST_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools"
 
 # ....Load environment variables from file.........................................................
-cd "${LPM_BUILD_SYSTEM_PATH}" || exit
+cd "${LPM_BUILD_SYSTEM_PATH}" || exit 1
 set -o allexport && source .env && set +o allexport
 
 # ....Source NBS dependencies......................................................................
-cd "${NBS_PATH}" || exit
+cd "${NBS_PATH}" || exit 1
 source import_norlab_build_system_lib.bash
 
 # ====begin========================================================================================
-cd "${NBS_PATH}/src/utility_scripts" || exit
+cd "${NBS_PATH}/src/utility_scripts" || exit 1
 
 DOTENV_BUILD_MATRIX_REALPATH=${LPM_BUILD_SYSTEM_PATH}/.env.build_matrix.libpointmatcher
 
-# Note: do not double cote PARAMS or threat it as a array otherwise it will cause error
+# Note: do not double quote PARAMS or threat it as a array otherwise it will cause error
 # shellcheck disable=SC2086
 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS
 

build_system/lpm_crawl_libpointmatcher_build_matrix.bleeding.bash

@@ -22,18 +22,18 @@ NBS_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-build-system"
 N2ST_PATH="${LPM_BUILD_SYSTEM_PATH}/utilities/norlab-shell-script-tools"
 
 # ....Load environment variables from file.........................................................
-cd "${LPM_BUILD_SYSTEM_PATH}" || exit
+cd "${LPM_BUILD_SYSTEM_PATH}" || exit 1
 set -o allexport && source .env && set +o allexport
 
 # ....Source NBS dependencies......................................................................
-cd "${NBS_PATH}" || exit
+cd "${NBS_PATH}" || exit 1
 source import_norlab_build_system_lib.bash
 
 # ====begin========================================================================================
-cd "${NBS_PATH}/src/utility_scripts" || exit
+cd "${NBS_PATH}/src/utility_scripts" || exit 1
 
 DOTENV_BUILD_MATRIX_REALPATH=${LPM_BUILD_SYSTEM_PATH}/.env.build_matrix.libpointmatcher.bleeding
 
-# Note: do not double cote PARAMS or threat it as a array otherwise it will cause error
+# Note: do not double quote PARAMS or threat it as a array otherwise it will cause error
 # shellcheck disable=SC2086
 source nbs_execute_compose_over_build_matrix.bash "${DOTENV_BUILD_MATRIX_REALPATH}" $PARAMS

build_system/lpm_utility_script/lpm_bashrc_config.bash

@@ -14,7 +14,7 @@ function lpm::configure_bashrc() {
   LPM_PATH=$(git rev-parse --show-toplevel)
 
   # ....Load environment variables from file.......................................................
-  cd "${LPM_PATH}/build_system" || exit
+  cd "${LPM_PATH}/build_system" || exit 1
   set -o allexport
   source .env
   set +o allexport

build_system/tests/tests_bats/test_dotenv_libpointmatcher.bats

@@ -0,0 +1,107 @@
+#!/usr/bin/env bats
+#
+# Usage in docker container
+#   $ REPO_ROOT=$(pwd) && RUN_TESTS_IN_DIR='tests'
+#   $ docker run -it --rm -v "$REPO_ROOT:/code" bats/bats:latest "$RUN_TESTS_IN_DIR"
+#
+#   Note: "/code" is the working directory in the bats official image
+#
+# bats-core ref:
+#   - https://bats-core.readthedocs.io/en/stable/tutorial.html
+#   - https://bats-core.readthedocs.io/en/stable/writing-tests.html
+#   - https://opensource.com/article/19/2/testing-bash-bats
+#       ↳ https://github.com/dmlond/how_to_bats/blob/master/test/build.bats
+#
+# Helper library: 
+#   - https://github.com/bats-core/bats-assert
+#   - https://github.com/bats-core/bats-support
+#   - https://github.com/bats-core/bats-file
+#
+
+BATS_HELPER_PATH=/usr/lib/bats
+if [[ -d ${BATS_HELPER_PATH} ]]; then
+  load "${BATS_HELPER_PATH}/bats-support/load"
+  load "${BATS_HELPER_PATH}/bats-assert/load"
+  load "${BATS_HELPER_PATH}/bats-file/load"
+  load "${SRC_CODE_PATH}/${N2ST_BATS_TESTING_TOOLS_RELATIVE_PATH}/bats_helper_functions"
+  #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support
+else
+  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2
+  echo '(press any key to exit)'
+  read -r -n 1
+  exit 1
+fi
+
+# ====Setup========================================================================================
+
+DOTENV_FILE=".env.libpointmatcher"
+TESTED_FILE_PATH="."
+
+# executed once before starting the first test (valide for all test in that file)
+setup_file() {
+  BATS_DOCKER_WORKDIR=$(pwd) && export BATS_DOCKER_WORKDIR
+
+  ## Uncomment the following for debug, the ">&3" is for printing bats msg to stdin
+#  pwd >&3 && tree -L 1 -a -hug >&3
+#  printenv >&3
+}
+
+# executed before each test
+setup() {
+  cd "$TESTED_FILE_PATH" || exit 1
+}
+
+# ====Teardown=====================================================================================
+
+# executed after each test
+teardown() {
+  bats_print_run_env_variable_on_error
+}
+
+## executed once after finishing the last test (valide for all test in that file)
+#teardown_file() {
+#}
+
+# ====Test casses==================================================================================
+@test "${DOTENV_FILE} › Env variables set ok" {
+  # ....Pre-condition..............................................................................
+  assert_empty "${PROJECT_PROMPT_NAME}"
+  assert_empty "${PROJECT_GIT_REMOTE_URL}"
+  assert_empty "${PROJECT_GIT_NAME}"
+  assert_empty "${PROJECT_SRC_NAME}"
+  assert_empty "${PROJECT_PATH}"
+
+  assert_empty "${LPM_PROMPT_NAME}"
+  assert_empty "${LPM_GIT_REMOTE_URL}"
+  assert_empty "${LPM_GIT_NAME}"
+  assert_empty "${LPM_PATH}"
+  assert_empty "${LPM_SRC_NAME}"
+
+  assert_empty "${LPM_BUILD_SYSTEM_PATH}"
+  assert_empty "${N2ST_PATH}"
+  assert_empty "${NBS_PATH}"
+
+  # ....Source .env.project........................................................................
+  set -o allexport
+  source "${BATS_DOCKER_WORKDIR:?err}/${DOTENV_FILE}"
+  set +o allexport
+
+#  printenv | grep -e 'CONTAINER_PROJECT_' -e 'PROJECT_' >&3
+
+  # ....Tests......................................................................................
+  assert_equal "${PROJECT_PROMPT_NAME}" "LPM"
+  assert_regex "${PROJECT_GIT_REMOTE_URL}" "https://github.com/norlab-ulaval/libpointmatcher"'(".git")?'
+  assert_equal "${PROJECT_GIT_NAME}" "libpointmatcher"
+  assert_equal "${PROJECT_SRC_NAME}" "libpointmatcher"
+  assert_equal "${PROJECT_PATH}" "/code/libpointmatcher"
+
+  assert_equal "${LPM_PROMPT_NAME}" "LPM"
+  assert_regex "${LPM_GIT_REMOTE_URL}" "https://github.com/norlab-ulaval/libpointmatcher"'(".git")?'
+  assert_equal "${LPM_GIT_NAME}" "libpointmatcher"
+  assert_equal "${LPM_SRC_NAME}" "libpointmatcher"
+  assert_equal "${LPM_PATH}" "/code/libpointmatcher"
+
+  assert_equal "${LPM_BUILD_SYSTEM_PATH}" "/code/libpointmatcher/build_system"
+  assert_equal "${N2ST_PATH}" "/code/libpointmatcher/build_system/utilities/norlab-shell-script-tools"
+  assert_equal "${NBS_PATH}" "/code/libpointmatcher/build_system/utilities/norlab-build-system"
+}

build_system/tests/tests_bats/tests_crawler/test_lpm_crawl_dependencies_build_matrix.bats

@@ -27,7 +27,7 @@ if [[ -d ${BATS_HELPER_PATH} ]]; then
   load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions"
   #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support
 else
-  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!"
+  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2
   echo '(press any key to exit)'
   read -r -n 1
   exit 1
@@ -52,7 +52,7 @@ setup_file() {
 
 # executed before each test
 setup() {
-  cd "$TESTED_FILE_PATH" || exit
+  cd "$TESTED_FILE_PATH" || exit 1
 }
 
 # ====Teardown=====================================================================================

build_system/tests/tests_bats/tests_crawler/test_lpm_crawl_libpointmatcher_build_matrix.bats

@@ -27,7 +27,7 @@ if [[ -d ${BATS_HELPER_PATH} ]]; then
   load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions"
   #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support
 else
-  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!"
+  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2
   echo '(press any key to exit)'
   read -r -n 1
   exit 1
@@ -52,7 +52,7 @@ setup_file() {
 
 # executed before each test
 setup() {
-  cd "$TESTED_FILE_PATH" || exit
+  cd "$TESTED_FILE_PATH" || exit 1
 }
 
 # ====Teardown=====================================================================================

build_system/tests/tests_bats/tests_crawler/test_lpm_crawl_libpointmatcher_build_matrix.bleeding.bats

@@ -27,7 +27,7 @@ if [[ -d ${BATS_HELPER_PATH} ]]; then
   load "${SRC_CODE_PATH}/build_system/tests/tests_bats/bats_helper_functions"
   #load "${BATS_HELPER_PATH}/bats-detik/load" # << Kubernetes support
 else
-  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!"
+  echo -e "\n[\033[1;31mERROR\033[0m] $0 path to bats-core helper library unreachable at \"${BATS_HELPER_PATH}\"!" 1>&2
   echo '(press any key to exit)'
   read -r -n 1
   exit 1
@@ -52,7 +52,7 @@ setup_file() {
 
 # executed before each test
 setup() {
-  cd "$TESTED_FILE_PATH" || exit
+  cd "$TESTED_FILE_PATH" || exit 1
 }
 
 # ====Teardown=====================================================================================