Update/improve CI (#6242)

* Update/improve CI
- When building the docker images, in the verify step, use C++14 on Ubuntu 20.04
- Use MSVC 2022 instead of MSVC 2019 on the Win 64bit CI
- Install nanoflann in the docker images (not available in Ubuntu 20.04)
- Install cjson in the release docker images

* Add nanoflann on windows/vcpkg

* vtk: no default features (to speed up build)

Author: mvieth

.ci/azure-pipelines/build/macos.yaml

@@ -3,7 +3,7 @@ steps:
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
   - script: |
-      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew freeglut qt5 libpcap libomp suite-sparse zlib google-benchmark cjson
+      brew install cmake pkg-config boost eigen flann nanoflann glew libusb qhull vtk glew freeglut qt5 libpcap libomp suite-sparse zlib google-benchmark cjson
       brew install brewsci/science/openni
       git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest
       cd $GOOGLE_TEST_DIR && git checkout release-1.8.1

.ci/azure-pipelines/env.yml

@@ -96,7 +96,7 @@ jobs:
         -DCMAKE_BUILD_TYPE="Release" \
         -DPCL_ONLY_CORE_POINT_TYPES=ON \
         -DBUILD_io:BOOL=OFF \
-        -DBUILD_kdtree:BOOL=OFF && \
+        -DBUILD_kdtree:BOOL=OFF $([ $(TAG) = "20.04" ] && (echo " -DCMAKE_CXX_STANDARD=14 -DCMAKE_CUDA_STANDARD=14")) && \
       cmake --build . -- -j2'
     displayName: 'Verify Dockerimage'
   - task: Docker@2
@@ -120,11 +120,13 @@ jobs:
         TAG: windows2022-x86
         GENERATOR: "'Visual Studio 16 2019' -A Win32"
         VCPKGCOMMIT: f7423ee180c4b7f40d43402c2feb3859161ef625
+        CHANNEL_BASE_URL: "https://aka.ms/vs/16/release"
       Winx64:
         PLATFORM: x64
         TAG: windows2022-x64
-        GENERATOR: "'Visual Studio 16 2019' -A x64"
+        GENERATOR: "'Visual Studio 17 2022' -A x64"
         VCPKGCOMMIT: master
+        CHANNEL_BASE_URL: "https://aka.ms/vs/17/release"
   steps:
   - task: Docker@2
     displayName: "Build docker image"
@@ -134,6 +136,7 @@ jobs:
         --no-cache
         --build-arg PLATFORM=$(PLATFORM)
         --build-arg VCPKGCOMMIT=$(VCPKGCOMMIT)
+        --build-arg CHANNEL_BASE_URL=$(CHANNEL_BASE_URL)
         -t $(dockerHubID)/env:$(TAG)
       dockerfile: '$(Build.SourcesDirectory)/.dev/docker/windows/Dockerfile'
       tags: "$(TAG)"

.ci/azure-pipelines/ubuntu-variety.yaml

@@ -32,9 +32,9 @@ jobs:
       POSSIBLE_VTK_VERSION=("9") \
       POSSIBLE_CMAKE_CXX_STANDARD=("14" "17" "20" "23") \
       POSSIBLE_CMAKE_BUILD_TYPE=("None" "Debug" "Release" "RelWithDebInfo" "MinSizeRel") \
-      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "clang libomp-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev" "clang-18 libomp-18-dev" "clang-19 libomp-19-dev") \
-      POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-11" "gcc-12" "gcc-13" "gcc-14" "clang" "clang-14" "clang-15" "clang-16" "clang-17" "clang-18" "clang-19") \
-      POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "clang++" "clang++-14" "clang++-15" "clang++-16" "clang++-17" "clang++-18" "clang++-19") \
+      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "g++-15" "clang libomp-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev" "clang-18 libomp-18-dev" "clang-19 libomp-19-dev" "clang-20 libomp-20-dev") \
+      POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-11" "gcc-12" "gcc-13" "gcc-14" "gcc-15" "clang" "clang-14" "clang-15" "clang-16" "clang-17" "clang-18" "clang-19" "clang-20") \
+      POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "g++-15" "clang++" "clang++-14" "clang++-15" "clang++-16" "clang++-17" "clang++-18" "clang++-19" "clang++-20") \
       CHOSEN_COMPILER=$[RANDOM%${#POSSIBLE_COMPILER_PACKAGE[@]}] \
       dockerBuildArgs="--build-arg VTK_VERSION=${POSSIBLE_VTK_VERSION[$[RANDOM%${#POSSIBLE_VTK_VERSION[@]}]]} --build-arg CMAKE_CXX_STANDARD=${POSSIBLE_CMAKE_CXX_STANDARD[$[RANDOM%${#POSSIBLE_CMAKE_CXX_STANDARD[@]}]]} --build-arg CMAKE_BUILD_TYPE=${POSSIBLE_CMAKE_BUILD_TYPE[$[RANDOM%${#POSSIBLE_CMAKE_BUILD_TYPE[@]}]]} --build-arg COMPILER_PACKAGE=\"${POSSIBLE_COMPILER_PACKAGE[$CHOSEN_COMPILER]}\" --build-arg CMAKE_C_COMPILER=${POSSIBLE_CMAKE_C_COMPILER[$CHOSEN_COMPILER]} --build-arg CMAKE_CXX_COMPILER=${POSSIBLE_CMAKE_CXX_COMPILER[$CHOSEN_COMPILER]}" ; \
       echo "##vso[task.setvariable variable=dockerBuildArgs]$dockerBuildArgs"

.dev/docker/env/Dockerfile

@@ -54,6 +54,9 @@ RUN apt-get update \
       software-properties-common \
       wget \
       xvfb \
+ && if dpkg --compare-versions $(lsb_release -sr) ge 22.04; then \
+      apt-get -V install -y libnanoflann-dev ; \
+    fi \
  && if [ "$USE_LATEST_CMAKE" = true ] ; then \
       cmake_ubuntu_version=$(lsb_release -cs) ; \
       if ! wget -q --method=HEAD "https://apt.kitware.com/ubuntu/dists/$cmake_ubuntu_version/Release"; then \

.dev/docker/release/Dockerfile

@@ -17,6 +17,7 @@ RUN apt update \
     libboost-filesystem-dev \
     libboost-iostreams-dev \
     libboost-system-dev \
+    libcjson-dev \
     libeigen3-dev \
     libflann-dev \
     libglew-dev \

.dev/docker/windows/Dockerfile

@@ -30,7 +30,8 @@ RUN wget $Env:CHANNEL_BASE_URL/vs_buildtools.exe -OutFile 'C:\TEMP\vs_buildtools
     "C:\TEMP\VisualStudio.chman",                                   `
     "--add",                                                        `
     "Microsoft.VisualStudio.Workload.VCTools",                      `
-    "Microsoft.Net.Component.4.8.SDK",                              `
+    "Microsoft.Net.Component.4.7.2.SDK",                            `
+    "Microsoft.Net.Component.4.7.2.TargetingPack",                  `
     "Microsoft.VisualStudio.Component.VC.ATLMFC",                   `
     "--includeRecommended"                                          `
     -Wait -PassThru;                                                `
@@ -63,11 +64,12 @@ RUN cd .\vcpkg;                                                     `
     boost-uuid `
     boost-cmake `
     flann `
+    nanoflann `
     eigen3 `
     qhull `
     glew `
     freeglut `
-    vtk[qt,opengl] `
+    vtk[core,qt,opengl] `
     gtest `
     benchmark `
     openni2 `