Set up azure pipelines for macOS High Sierra (#2635)

Set up Azure Pipelines for macOS High Sierra

.azure-pipelines.yml

@@ -45,6 +45,59 @@ jobs:
         displayName: 'Build Library'
       - script: cd $BUILD_DIR && cmake --build . -- tests
         displayName: 'Run Unit Tests'
+  - job: osx
+    displayName: macOS High Sierra
+    timeoutInMinutes: 0
+    pool:
+      vmImage: 'macOS-10.13'
+    variables:
+      BUILD_DIR: '$(Agent.BuildDirectory)/build'
+      GOOGLE_TEST_DIR: '$(Agent.WorkFolder)/googletest'
+      CMAKE_CXX_FLAGS: '-Wall -Wextra -Wabi -O2'
+    steps:
+      - script: |
+          brew install pkg-config qt5 libpcap brewsci/science/openni
+          brew install vtk --with-qt --without-python@2
+          brew install --only-dependencies pcl
+          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
+        displayName: 'Install Dependencies'
+      - script: |
+          mkdir $BUILD_DIR && cd $BUILD_DIR
+          cmake $(Build.SourcesDirectory) \
+            -DCMAKE_CXX_FLAGS="$CMAKE_CXX_FLAGS" \
+            -DGTEST_SRC_DIR="$GOOGLE_TEST_DIR/googletest" \
+            -DGTEST_INCLUDE_DIR="$GOOGLE_TEST_DIR/googletest/include" \
+            -DQt5Core_DIR=/usr/local/opt/qt5/lib/cmake/Qt5Core \
+            -DQt5Gui_DIR=/usr/local/opt/qt5/lib/cmake/Qt5Gui \
+            -DQt5Widgets_DIR=/usr/local/opt/qt5/lib/cmake/Qt5Widgets \
+            -DQt5Concurrent_DIR=/usr/local/opt/qt5/lib/cmake/Qt5Concurrent \
+            -DQt5OpenGL_DIR=/usr/local/opt/qt5/lib/cmake/Qt5OpenGL \
+            -DPCL_ONLY_CORE_POINT_TYPES=ON \
+            -DPCL_QT_VERSION=5 \
+            -DBUILD_simulation=ON \
+            -DBUILD_global_tests=ON \
+            -DBUILD_examples=ON \
+            -DBUILD_tools=ON \
+            -DBUILD_apps=ON \
+            -DBUILD_apps_3d_rec_framework=ON \
+            -DBUILD_apps_cloud_composer=ON \
+            -DBUILD_apps_in_hand_scanner=ON \
+            -DBUILD_apps_modeler=ON \
+            -DBUILD_apps_point_cloud_editor=ON
+        displayName: 'CMake Configuration'
+      - script: |
+          cd $BUILD_DIR
+          # Compiling some of the test targets with -j2 option leads to pipeline failures
+          # (presumably out of memory error). Thus we make them separately in a single
+          # thread mode. Their corresponding modules are built before with the -j2 mode
+          # to make the process faster.
+          cmake --build . -- -j2 pcl_filters pcl_registration
+          cmake --build . -- test_filters test_registration test_registration_api
+          cmake --build . -- -j2
+        displayName: 'Build Library'
+      - script: cd $BUILD_DIR && cmake --build . -- tests
+        displayName: 'Run Unit Tests'
   - job: documentation
     displayName: Generate Documentation
     pool: