test for macos and windows support

Author: saurabh1002

.github/workflows/cpp.yml

@@ -14,7 +14,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
+        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04, windows-2022, macos-14]
     steps:
       - uses: actions/checkout@v3
       - name: Setup cmake

.github/workflows/python.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
+        os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04, windows-2022, macos-14]
 
     steps:
       - uses: actions/checkout@v3

cpp/CMakeLists.txt

@@ -33,6 +33,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 include(3rdparty/find_dependencies.cmake)
+include(cmake/CompilerOptions.cmake)
 
 add_subdirectory(map_closures)
 add_subdirectory(gt_closures)

cpp/cmake/CompilerOptions.cmake

@@ -0,0 +1,50 @@
+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+function(set_global_target_properties target)
+  target_compile_features(${target} PUBLIC cxx_std_17)
+  target_compile_definitions(${target} PUBLIC $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:_USE_MATH_DEFINES>)
+  target_compile_options(
+    ${target}
+    PRIVATE # MSVC
+            $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:/W4>
+            $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:/WX>
+            # Clang/AppleClang
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-fcolor-diagnostics>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wno-sign-conversion>
+            # GNU
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-fdiagnostics-color=always>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-pedantic>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wcast-align>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wcast-qual>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wdisabled-optimization>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Woverloaded-virtual>)
+  set(INCLUDE_DIRS ${PROJECT_SOURCE_DIR})
+  get_filename_component(INCLUDE_DIRS ${INCLUDE_DIRS} PATH)
+  target_include_directories(
+    ${target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC $<BUILD_INTERFACE:${INCLUDE_DIRS}> $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+endfunction()

cpp/gt_closures/CMakeLists.txt

@@ -25,4 +25,4 @@ add_library(gt_closures STATIC)
 target_sources(gt_closures PRIVATE VoxelHashSet.cpp GTClosures.cpp)
 target_include_directories(gt_closures PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_link_libraries(gt_closures PUBLIC Eigen3::Eigen TBB::tbb tsl::robin_map)
-target_compile_features(gt_closures PUBLIC cxx_std_17)
+set_global_target_properties(gt_closures)

cpp/map_closures/CMakeLists.txt

@@ -25,4 +25,4 @@ add_library(map_closures STATIC)
 target_sources(map_closures PRIVATE DensityMap.cpp AlignRansac2D.cpp MapClosures.cpp)
 target_include_directories(map_closures PUBLIC ${hbst_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_link_libraries(map_closures PUBLIC Eigen3::Eigen TBB::tbb ${OpenCV_LIBS})
-target_compile_features(map_closures PUBLIC cxx_std_17)
+set_global_target_properties(map_closures)