Easy gui

.github/workflows/easy-forest-macos.yml

@@ -0,0 +1,137 @@
+# Easy Forest HDMapping release build for macOS (Apple silicon, macOS 13.0 and newer).
+# Separate from the upstream macos.yml: builds only easy_gui + lidar_odometry_step_1 (HDMAPPING_EASY_GUI_ONLY) and
+# packages them as "Easy Forest HDMapping.app" in a DMG. The packaging steps are scripts in
+# apps/easy_gui/packaging/macos, so they can be run and debugged locally the same way.
+name: Easy Forest HDMapping macOS
+
+on:
+  push:
+    tags: ["easy-forest-v*"]
+  workflow_dispatch:
+
+permissions:
+  contents: write # attach the DMG to the release on a tag
+
+env:
+  MIN_MACOS: "13.0"
+  # Picked up by every CMake project (PROJ, the FetchContent raylib) and by clang directly.
+  MACOSX_DEPLOYMENT_TARGET: "13.0"
+
+jobs:
+  build:
+    runs-on: macos-15
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Set version
+        run: |
+          if [[ "$GITHUB_REF" == refs/tags/easy-forest-v* ]]; then
+            echo "VERSION=${GITHUB_REF_NAME#easy-forest-v}" >> "$GITHUB_ENV"
+            # The app shows EASY_FOREST_VERSION from CMake; it must be the tag's version.
+            cmake_version=$(sed -n 's/^set(EASY_FOREST_VERSION "\(.*\)")$/\1/p' apps/easy_gui/CMakeLists.txt)
+            if [[ "$cmake_version" != "${GITHUB_REF_NAME#easy-forest-v}" ]]; then
+              echo "::error::Tag $GITHUB_REF_NAME does not match EASY_FOREST_VERSION $cmake_version in apps/easy_gui/CMakeLists.txt"
+              exit 1
+            fi
+          else
+            echo "VERSION=$(git describe --tags --always)" >> "$GITHUB_ENV"
+          fi
+
+      - uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~4.0.0"
+
+      # Homebrew's PROJ is built for the runner's macOS; build a static one for MIN_MACOS instead (see the script).
+      - name: Cache PROJ
+        id: proj-cache
+        uses: actions/cache@v4
+        with:
+          path: ${{ runner.temp }}/proj-install
+          key: proj-macos-${{ env.MIN_MACOS }}-${{ runner.arch }}-${{ hashFiles('apps/easy_gui/packaging/macos/build_proj.sh') }}
+
+      - name: Build PROJ
+        if: steps.proj-cache.outputs.cache-hit != 'true'
+        run: apps/easy_gui/packaging/macos/build_proj.sh "$RUNNER_TEMP/proj-install" "$RUNNER_TEMP/proj-work"
+
+      # TBB_DISABLE_HWLOC_AUTOMATIC_SEARCH: the bundled oneTBB would otherwise pick up a Homebrew hwloc for tbbbind.
+      - name: Configure
+        run: |
+          cmake -B build \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCMAKE_OSX_DEPLOYMENT_TARGET="$MIN_MACOS" \
+            -DHDMAPPING_EASY_GUI_ONLY=ON \
+            -DBUILD_TESTING=ON \
+            -DFREEGLUT_COCOA=ON \
+            -DHD_CPU_OPTIMIZATION=ARM \
+            -DTBB_DISABLE_HWLOC_AUTOMATIC_SEARCH=ON \
+            -DPROJ_DIR="$RUNNER_TEMP/proj-install/lib/cmake/proj"
+
+      # A static library built for a newer macOS only shows up as a linker warning (the executables still say
+      # minos 13.0), so treat that warning as an error.
+      - name: Build
+        run: |
+          set -o pipefail
+          cmake --build build --config Release -j"$(sysctl -n hw.ncpu)" 2>&1 | tee build.log
+          if grep -i "built for newer macOS version" build.log; then
+            echo "::error::Something was linked that was built for a newer macOS than $MIN_MACOS"
+            exit 1
+          fi
+
+      - name: Test
+        working-directory: build
+        run: ctest -C Release --output-on-failure
+
+      # Also checks minos <= MIN_MACOS for every bundled binary and fails otherwise.
+      - name: Create app bundle
+        run: python3 apps/easy_gui/packaging/macos/make_app.py build/bin dist --version "$VERSION" --min-macos "$MIN_MACOS"
+
+      - name: Smoke test the bundle
+        run: |
+          set +e
+          "dist/Easy Forest HDMapping.app/Contents/MacOS/easy_gui" --headless > usage.txt 2>&1
+          rc=$?
+          set -e
+          cat usage.txt
+          # Exit code 2 + usage text = dyld loaded every bundled library and main() ran.
+          test "$rc" -eq 2 && grep -q "usage:" usage.txt
+
+      - name: Create DMG
+        run: apps/easy_gui/packaging/macos/make_dmg.sh "dist/Easy Forest HDMapping.app" dist/EasyForestHDMapping-mac.dmg
+
+      - name: Sizes
+        run: |
+          {
+            echo "### Easy Forest HDMapping macOS $VERSION"
+            echo '```'
+            ls -l dist/EasyForestHDMapping-mac.dmg
+            du -sh "dist/Easy Forest HDMapping.app"
+            find "dist/Easy Forest HDMapping.app/Contents" -type f -exec ls -l {} \; | awk '{printf "%10d  %s\n", $5, substr($0, index($0, $9))}'
+            echo '```'
+          } | tee -a "$GITHUB_STEP_SUMMARY"
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: EasyForestHDMapping-mac-${{ env.VERSION }}
+          path: dist/EasyForestHDMapping-mac.dmg
+          compression-level: 0 # already compressed
+          retention-days: 90
+
+      # The macOS and Windows workflows both run on the same tag: whichever gets here first creates the release.
+      # 0.x versions and versions with a suffix (0.2.0-rc1) are pre-releases. Created with GITHUB_TOKEN, so the
+      # release does not trigger other workflows (upstream windows.yml runs on release: published).
+      - name: Attach to GitHub release
+        if: startsWith(github.ref, 'refs/tags/easy-forest-v')
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          PRERELEASE=""
+          if [[ "$VERSION" == 0.* || "$VERSION" == *-* ]]; then PRERELEASE="--prerelease"; fi
+          gh release view "$GITHUB_REF_NAME" > /dev/null 2>&1 \
+            || gh release create "$GITHUB_REF_NAME" --verify-tag --title "Easy Forest HDMapping $VERSION" $PRERELEASE \
+                 --notes "Installation and use: [apps/easy_gui/README.md](https://github.com/${GITHUB_REPOSITORY}/blob/${GITHUB_REF_NAME}/apps/easy_gui/README.md)" \
+            || gh release view "$GITHUB_REF_NAME" > /dev/null
+          gh release upload "$GITHUB_REF_NAME" dist/EasyForestHDMapping-mac.dmg --clobber

.github/workflows/easy-forest-windows.yml

@@ -0,0 +1,111 @@
+# Easy Forest HDMapping release build for Windows (x64).
+# Separate from the upstream windows.yml: builds only easy_gui + lidar_odometry_step_1 (HDMAPPING_EASY_GUI_ONLY) and
+# packages them with every DLL they need, the MSVC runtime included, as one zip (apps/easy_gui/packaging/windows).
+name: Easy Forest HDMapping Windows
+
+on:
+  push:
+    tags: ["easy-forest-v*"]
+  workflow_dispatch:
+
+permissions:
+  contents: write # attach the zip to the release on a tag
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Set version
+        run: |
+          if [[ "$GITHUB_REF" == refs/tags/easy-forest-v* ]]; then
+            echo "VERSION=${GITHUB_REF_NAME#easy-forest-v}" >> "$GITHUB_ENV"
+            # The app shows EASY_FOREST_VERSION from CMake; it must be the tag's version.
+            cmake_version=$(sed -n 's/^set(EASY_FOREST_VERSION "\(.*\)")$/\1/p' apps/easy_gui/CMakeLists.txt)
+            if [[ "$cmake_version" != "${GITHUB_REF_NAME#easy-forest-v}" ]]; then
+              echo "::error::Tag $GITHUB_REF_NAME does not match EASY_FOREST_VERSION $cmake_version in apps/easy_gui/CMakeLists.txt"
+              exit 1
+            fi
+          else
+            echo "VERSION=$(git describe --tags --always)" >> "$GITHUB_ENV"
+          fi
+
+      # Latest CMake: it has to know the generator of whatever Visual Studio the runner image ships.
+      - uses: lukka/get-cmake@latest
+
+      # HD_CPU_OPTIMIZATION=GENERIC: AUTO adds /arch:AVX2 when the runner's CPU has it, and the release must also run
+      # on PCs without AVX2.
+      - name: Configure
+        run: |
+          cmake -B build -A x64 \
+            -DHDMAPPING_EASY_GUI_ONLY=ON \
+            -DBUILD_TESTING=ON \
+            -DHD_CPU_OPTIMIZATION=GENERIC \
+            -DTBB_DISABLE_HWLOC_AUTOMATIC_SEARCH=ON
+
+      - name: Build
+        run: cmake --build build --config Release --parallel
+
+      - name: Test
+        working-directory: build
+        run: ctest -C Release --output-on-failure
+
+      - name: Create folder and zip
+        run: |
+          python apps/easy_gui/packaging/windows/make_zip.py build/bin/Release \
+            "dist/Easy Forest HDMapping" dist/EasyForestHDMapping-windows.zip \
+            --search-dir build/3rd_binary/PROJ/install_proj/bin
+
+      - name: Smoke test the folder
+        run: |
+          # easy_gui.exe is a windowed program, so check from its own folder that it and lidar_odometry_step_1.exe
+          # load all their DLLs: run with bad arguments and expect the usage exit code 2.
+          set +e
+          "dist/Easy Forest HDMapping/easy_gui.exe" --headless
+          rc=$?
+          set -e
+          echo "easy_gui.exe exit code: $rc"
+          test "$rc" -eq 2
+
+      - name: Sizes
+        run: |
+          {
+            echo "### Easy Forest HDMapping Windows $VERSION"
+            echo '```'
+            ls -l dist/EasyForestHDMapping-windows.zip
+            du -sh "dist/Easy Forest HDMapping"
+            ls -l "dist/Easy Forest HDMapping"
+            echo '```'
+          } | tee -a "$GITHUB_STEP_SUMMARY"
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: EasyForestHDMapping-windows-${{ env.VERSION }}
+          path: dist/EasyForestHDMapping-windows.zip
+          compression-level: 0 # already compressed
+          retention-days: 90
+
+      # The macOS and Windows workflows both run on the same tag: whichever gets here first creates the release.
+      # 0.x versions and versions with a suffix (0.2.0-rc1) are pre-releases. Created with GITHUB_TOKEN, so the
+      # release does not trigger other workflows (upstream windows.yml runs on release: published).
+      - name: Attach to GitHub release
+        if: startsWith(github.ref, 'refs/tags/easy-forest-v')
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          PRERELEASE=""
+          if [[ "$VERSION" == 0.* || "$VERSION" == *-* ]]; then PRERELEASE="--prerelease"; fi
+          gh release view "$GITHUB_REF_NAME" > /dev/null 2>&1 \
+            || gh release create "$GITHUB_REF_NAME" --verify-tag --title "Easy Forest HDMapping $VERSION" $PRERELEASE \
+                 --notes "Installation and use: [apps/easy_gui/README.md](https://github.com/${GITHUB_REPOSITORY}/blob/${GITHUB_REF_NAME}/apps/easy_gui/README.md)" \
+            || gh release view "$GITHUB_REF_NAME" > /dev/null
+          gh release upload "$GITHUB_REF_NAME" dist/EasyForestHDMapping-windows.zip --clobber

CMakeLists.txt

@@ -1,5 +1,11 @@
 cmake_minimum_required(VERSION 4.0.0)
 
+# Easy Forest HDMapping release builds (HDMAPPING_EASY_GUI_ONLY) must run on older macOS versions than the
+# build machine's, which is the default minimum. Must be set before project(). Pass -DCMAKE_OSX_DEPLOYMENT_TARGET to override.
+if(HDMAPPING_EASY_GUI_ONLY AND CMAKE_HOST_APPLE AND NOT CMAKE_OSX_DEPLOYMENT_TARGET)
+    set(CMAKE_OSX_DEPLOYMENT_TARGET "13.0" CACHE STRING "Minimum macOS version" FORCE)
+endif()
+
 project(hd-mapping VERSION 0.105.0)
 
 # Common settings
@@ -32,6 +38,7 @@ option(BUILD_WITH_BUNDLED_LIBLASZIP "Build with bundled Lib LASZIP" ON)
 option(BUILD_WITH_BUNDLED_ONETBB "Build with bundled oneTBB" ON)
 option(BUILD_WITH_PYBIND "Enable pybind11 bindings" OFF)
 option(HDMAPPING_ASSERT_ALWAYS_ABORT "Make HDMAPPING_ASSERT() abort on failure even in release (NDEBUG) builds" OFF)
+option(HDMAPPING_EASY_GUI_ONLY "Build only easy_gui, lidar_odometry_step_1 and their dependencies (plus easy_gui_tests with BUILD_TESTING)" OFF)
 
 add_definitions(-D_USE_MATH_DEFINES)
 
@@ -107,37 +114,65 @@ include(cmake/dependencies.cmake)
 # unconditionally: apps/multi_view_tls_registration (step2) is raylib-based.
 include(cmake/raylib.cmake)
 
+# HDMAPPING_EASY_GUI_ONLY: the library directories are still added (easy_gui and
+# step 1 link some of their targets), but EXCLUDE_FROM_ALL, so a target in them
+# is only built when easy_gui or lidar_odometry_step_1 needs it. All other apps,
+# tests and optional tool sets are skipped. Off by default: nothing changes.
+if(HDMAPPING_EASY_GUI_ONLY)
+    set(HDMAPPING_EASY_GUI_ONLY_EXCLUDE EXCLUDE_FROM_ALL)
+    foreach(_hd_skipped BUILD_WITH_CLI_TOOLS BUILD_WITH_HD_MAPPER_APPLICATION BUILD_WITH_UTILITY_APPLICATION)
+        if(${_hd_skipped})
+            message(STATUS "HDMAPPING_EASY_GUI_ONLY: ignoring ${_hd_skipped}")
+        endif()
+    endforeach()
+endif()
+
 # ============================================================================
 # Core Library
 # ============================================================================
-add_subdirectory(core)
-add_subdirectory(calib_core)
-add_subdirectory(raylib_widgets)
+add_subdirectory(core ${HDMAPPING_EASY_GUI_ONLY_EXCLUDE})
+add_subdirectory(calib_core ${HDMAPPING_EASY_GUI_ONLY_EXCLUDE})
+add_subdirectory(raylib_widgets ${HDMAPPING_EASY_GUI_ONLY_EXCLUDE})
 
 # ============================================================================
 # Unit tests (opt-in: cmake -DBUILD_TESTING=ON)
 # ============================================================================
 option(BUILD_TESTING "Build HDMapping unit tests" OFF)
-if(BUILD_TESTING)
+if(BUILD_TESTING AND HDMAPPING_EASY_GUI_ONLY)
+    enable_testing()
+    add_subdirectory(apps/easy_gui/tests)
+elseif(BUILD_TESTING)
     enable_testing()
     add_subdirectory(shared/tests)
     add_subdirectory(calib_core/tests)
     add_subdirectory(apps/lidar_odometry_step_1/tests)
     add_subdirectory(rosbags/tests)
+    add_subdirectory(apps/easy_gui/tests)
 endif()
 
 set(CORE_LIBRARIES core)
 set(GUI_LIBRARIES imgui imguizmo implot)
 
-if(BUILD_WITH_CLI_TOOLS)
+if(HDMAPPING_EASY_GUI_ONLY)
+    # The step 1 directory also defines the drag-and-drop precision forestry app.
+    # EXCLUDE_FROM_ALL skips it, together with the directory's install rules, so
+    # lidar_odometry_step_1 is put back into "all" and installed from here.
+    add_subdirectory(apps/lidar_odometry_step_1 EXCLUDE_FROM_ALL)
+    set_target_properties(lidar_odometry_step_1 PROPERTIES EXCLUDE_FROM_ALL OFF)
+    hdmapping_install_app(lidar_odometry_step_1)
+    add_subdirectory(apps/easy_gui)
+endif()
+
+if(BUILD_WITH_CLI_TOOLS AND NOT HDMAPPING_EASY_GUI_ONLY)
     add_subdirectory(apps/console_tools)
 endif()
 
-if(BUILD_WITH_HD_MAPPER_APPLICATION)
+if(BUILD_WITH_HD_MAPPER_APPLICATION AND NOT HDMAPPING_EASY_GUI_ONLY)
     add_subdirectory(apps/hd_mapper)
 endif()
 
 # Applications for typical workflow - see images/workflow.png
+if(NOT HDMAPPING_EASY_GUI_ONLY)
 add_subdirectory(apps/mandeye_raw_data_viewer)
 add_subdirectory(apps/lidar_odometry_step_1)
 add_subdirectory(apps/mandeye_single_session_viewer)
@@ -147,8 +182,10 @@ add_subdirectory(apps/multi_session_registration)
 add_subdirectory(apps/multi_session_registration_legacy)
 add_subdirectory(apps/session_uncertainty_calculation)
 add_subdirectory(apps/session_to_session_rigid_registration)
+add_subdirectory(apps/easy_gui)
+endif()
 
-if(BUILD_WITH_UTILITY_APPLICATION)
+if(BUILD_WITH_UTILITY_APPLICATION AND NOT HDMAPPING_EASY_GUI_ONLY)
     add_subdirectory(apps/split_multi_livox)
     add_subdirectory(apps/precision_forestry_tools)
     add_subdirectory(apps/compare_trajectories)

README.md

@@ -1,3 +1,7 @@
+> **New: Easy Forest HDMapping.** One window that turns a raw Mandeye recording folder into a point cloud (LAZ) and a
+> trajectory (CSV) with the precision forestry settings, no other steps needed. See
+> [apps/easy_gui/README.md](apps/easy_gui/README.md).
+
 # Open-source (Windows, Linux and macOS), open hardware hand-held/wearable/mountable mobile mapping system for large-scale surveys:
 This is open-source software for large-scale 3D mapping using an open-hardware hand-held/wearable/mountable measurement device available at https://github.com/JanuszBedkowski/mandeye_controller. 
 We provide an end-to-end mobile mapping framework that does not require any installation, including: