add CI

.github/workflows/release-appimage.yaml

@@ -0,0 +1,59 @@
+name: Release AppImage
+
+on:
+  workflow_dispatch:  # Allows manual triggering
+  push:
+    tags:
+      - 'v*'  # Push events to matching v*, i.e. v1.0, v20.15.10
+
+jobs:
+  build-appimage:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache apt packages
+        uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: git cmake liblz4-dev libzstd-dev libpcl-dev libboost-all-dev
+          version: 1.0
+
+      - name: Configure
+        run: cmake cloudini_lib -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_TESTING=OFF
+
+      - name: Build
+        run: make -j$(nproc) install DESTDIR=AppDir
+
+      - name: Build AppImage
+        uses: AppImageCrafters/build-appimage-action@master
+        env:
+          UPDATE_INFO: gh-releases-zsync|AppImageCrafters|cloudini_rosbag_converter|latest|*x86_64.AppImage.zsync
+        with:
+          recipe: AppImageBuilder.yml
+
+      - name: Get version from tag
+        id: get_version
+        run: |
+          if [ "${{ github.event_name }}" = "push" ]; then
+            echo "VERSION=${GITHUB_REF#refs/tags/}" >> $GITHUB_OUTPUT
+          else
+            echo "VERSION=manual-build" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Create Release
+        uses: softprops/action-gh-release@v1
+        if: github.event_name == 'push'  # Only create release for tag pushes
+        with:
+          name: Release ${{ steps.get_version.outputs.VERSION }}
+          files: |
+            *.AppImage*
+          draft: false
+          prerelease: false
+
+      - name: Upload Artifacts
+        if: github.event_name == 'workflow_dispatch'  # Only upload artifacts for manual runs
+        uses: actions/upload-artifact@v4
+        with:
+          name: AppImage-manual-build
+          path: '*.AppImage*'

.github/workflows/ubuntu-build.yaml

@@ -0,0 +1,44 @@
+name: Ubuntu Build & Test
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache apt packages
+        uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: git cmake libpcl-dev liblz4-dev libzstd-dev libgtest-dev libboost-all-dev
+          version: 1.0
+
+      - name: Cache CMake files
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/cmake
+            build
+          key: ${{ runner.os }}-cmake-${{ hashFiles('**/CMakeLists.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-cmake-
+
+      - name: Configure
+        run: |
+          mkdir -p build
+          cd build
+          cmake ../cloudini_lib -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
+
+      - name: Build
+        working-directory: build
+        run: make -j$(nproc)
+
+      - name: Run tests
+        working-directory: build
+        run: ctest --output-on-failure

.vscode/settings.json

@@ -90,7 +90,8 @@
         "qmessagebox": "cpp",
         "qapplication": "cpp",
         "locale": "cpp",
-        "filesystem": "cpp"
+        "filesystem": "cpp",
+        "*.tcc": "cpp"
     },
     "python.autoComplete.extraPaths": [
         "/opt/ros/humble/lib/python3.10/site-packages",
@@ -100,4 +101,4 @@
         "/opt/ros/humble/lib/python3.10/site-packages",
         "/opt/ros/humble/local/lib/python3.10/dist-packages"
     ],
-}
+}

AppImageBuilder.yml

@@ -0,0 +1,53 @@
+version: 1
+script:
+  # Remove any old AppDir
+  - rm -rf AppDir || true
+  # Make sure you have a clean AppDir
+  - mkdir -p AppDir
+
+AppDir:
+  path: AppDir
+
+  app_info:
+    id: com.github.cloudini
+    name: cloudini
+    icon: auto
+    version: latest
+    exec: usr/bin/cloudini_rosbag_converter
+    exec_args: $@
+
+  apt:
+    arch: amd64
+    sources:
+      - sourceline: 'deb http://archive.ubuntu.com/ubuntu/ jammy main restricted universe multiverse'
+        key_url: 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0x871920D1991BC93C'
+
+    include: []
+    exclude: []
+
+  files:
+    include: []
+    exclude:
+      - usr/share/man
+      - usr/share/doc
+
+  test:
+    fedora-30:
+      image: appimagecrafters/tests-env:fedora-30
+      command: ./AppRun
+    debian-stable:
+      image: appimagecrafters/tests-env:debian-stable
+      command: ./AppRun
+    archlinux-latest:
+      image: appimagecrafters/tests-env:archlinux-latest
+      command: ./AppRun
+    centos-7:
+      image: appimagecrafters/tests-env:centos-7
+      command: ./AppRun
+    ubuntu-xenial:
+      image: appimagecrafters/tests-env:ubuntu-xenial
+      command: ./AppRun
+
+AppImage:
+  arch: x86_64
+  update-information: guess

cloudini_lib/CMakeLists.txt

@@ -32,7 +32,6 @@ message(STATUS "LZ4_INCLUDE_DIR: ${LZ4_INCLUDE_DIR}")
 message(STATUS "LZ4_LIBRARY: ${LZ4_LIBRARY}")
 
 
-
 ##################################################################################
 
 # ----  Trick to pass an absolute path to C++ code  ----
@@ -85,12 +84,14 @@ target_include_directories(cloudini_lib
   PRIVATE
     $<BUILD_INTERFACE:${LZ4_INCLUDE_DIR}>
     $<BUILD_INTERFACE:${ZSTD_INCLUDE_DIR}>
+    $<BUILD_INTERFACE:${DRACO_INCLUDE_DIR}>
 )
 
 target_link_libraries(cloudini_lib
   PRIVATE
     ${LZ4_LIBRARY}
     ${ZSTD_LIBRARY}
+    ${DRACO_LIBRARY}
   PUBLIC
     ${PCL_LIBRARIES}
 )

cloudini_lib/benchmarks/CMakeLists.txt

@@ -13,21 +13,35 @@ else()
 endif()
 
 
+find_package(Draco QUIET)
 
 if(PCL_FOUND)
   message(STATUS "PCL found, using system include")
 
-    add_executable(pcd_benchmark pcd_benchmark.cpp )
+  add_executable(pcd_benchmark pcd_benchmark.cpp)
 
-    target_include_directories(pcd_benchmark PRIVATE  ${PCL_INCLUDE_DIRS}})
+  target_include_directories(pcd_benchmark
+    PRIVATE
+      ${PCL_INCLUDE_DIRS}
+      ${DRACO_INCLUDE_DIRS}
+  )
 
-    target_link_libraries(pcd_benchmark
+  target_link_libraries(pcd_benchmark
     PRIVATE
       cloudini_lib
       benchmark
       data_path
       ${PCL_LIBRARIES}
+      ${DRACO_LIBRARIES}
   )
+
+  if(Draco_FOUND)
+    message(STATUS "Draco found")
+    target_compile_definitions(pcd_benchmark PRIVATE DRACO_FOUND)
+  else()
+    message(STATUS "Draco not found, not using it in benchmarks")
+  endif()
+
 else()
   message(STATUS "PCL not found, skipping pcd_benchmark")
 endif()

cloudini_lib/benchmarks/pcd_benchmark.cpp

@@ -1,9 +1,15 @@
-
 #include <benchmark/benchmark.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
+#ifdef DRACO_FOUND
+#include <draco/compression/decode.h>
+#include <draco/compression/encode.h>
+#include <draco/compression/expert_encode.h>
+#include <draco/point_cloud/point_cloud_builder.h>
+#endif
+
 #include "cloudini_lib/cloudini.hpp"
 #include "data_path.hpp"
 
@@ -154,18 +160,64 @@ static void PCD_Decode_LZ4_only(benchmark::State& state) {
   PCD_Decode_Impl(state, cloud, info);
 }
 
+//------------------------------------------------------------------------------------------
+
+#ifdef DRACO_FOUND
+
+static void PCD_Encode_Draco(benchmark::State& state) {
+  const auto cloud = loadCloud();
+  // Create Draco point cloud
+  draco::PointCloudBuilder builder;
+  builder.Start(cloud.size());
+
+  const int pos_att_id = builder.AddAttribute(draco::GeometryAttribute::POSITION, 3, draco::DT_FLOAT32);
+  const int intensity_att_id = builder.AddAttribute(draco::GeometryAttribute::GENERIC, 1, draco::DT_FLOAT32);
+
+  // Add points to the point cloud
+  for (draco::PointIndex i(0); i < cloud.size(); ++i) {
+    const auto& point = cloud.points[i.value()];
+    builder.SetAttributeValueForPoint(pos_att_id, i, &point.x);
+    builder.SetAttributeValueForPoint(intensity_att_id, i, &point.intensity);
+  }
+
+  std::unique_ptr<draco::PointCloud> draco_pc = builder.Finalize(false);
+  if (!draco_pc) {
+    throw std::runtime_error("Failed to create Draco point cloud");
+  }
+
+  // Encode the point cloud
+  draco::ExpertEncoder encoder(*draco_pc);
+  encoder.SetAttributeQuantization(draco::GeometryAttribute::POSITION, 12);
+  encoder.SetAttributeQuantization(draco::GeometryAttribute::GENERIC, 8);
+  encoder.SetEncodingMethod(draco::POINT_CLOUD_SEQUENTIAL_ENCODING);
+
+  draco::EncoderBuffer buffer;
+
+  for (auto _ : state) {
+    buffer.Clear();
+    encoder.EncodeToBuffer(&buffer);
+  }
+  const auto percentage =
+      100 * (static_cast<double>(buffer.size()) / static_cast<double>(cloud.size() * sizeof(pcl::PointXYZI)));
+  std::cout << "Encoded size: " << buffer.size() << "  percentage: " << percentage << "%" << std::endl;
+}
+
+#endif
+
+//------------------------------------------------------------------------------------------
+
 BENCHMARK(PCD_Encode_Lossy_ZST);
-BENCHMARK(PCD_Encode_Lossles_ZST);
 BENCHMARK(PCD_Encode_ZSTD_only);
 BENCHMARK(PCD_Encode_Lossy_LZ4);
-BENCHMARK(PCD_Encode_Lossles_LZ4);
 BENCHMARK(PCD_Encode_LZ4_only);
 
+#ifdef DRACO_FOUND
+BENCHMARK(PCD_Encode_Draco);
+#endif
+
 BENCHMARK(PCD_Decode_Lossy_ZST);
 BENCHMARK(PCD_Decode_Lossy_LZ4);
-
 BENCHMARK(PCD_Decode_ZSTD_only);
 BENCHMARK(PCD_Decode_LZ4_only);
 
-//------------------------------------------------------------------------------------------
 BENCHMARK_MAIN();

cloudini_lib/tools/CMakeLists.txt

@@ -4,7 +4,7 @@ if(NOT TARGET fastcdr)
         NAME fastcdr_imported
         GITHUB_REPOSITORY eProsima/Fast-CDR
         GIT_TAG v2.2.6
-        OPTIONS "BUILD_SHARED_LIBS OFF"
+        OPTIONS "BUILD_SHARED_LIBS OFF;BUILD_TESTING OFF"
     )
 endif()