Merge pull request #472 from borglab/feature/actions_ci_add
Minimal PR to add GitHub Actions CI to developrelease/4.3a0
Frank Dellaert
GitHub
commit
ae4968328d
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@ -0,0 +1,94 @@
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#!/bin/bash
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##########################################################
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# Build and test the GTSAM Python wrapper.
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##########################################################
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set -x -e
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if [ -z ${PYTHON_VERSION+x} ]; then
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echo "Please provide the Python version to build against!"
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exit 127
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fi
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if [ -z ${WRAPPER+x} ]; then
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echo "Please provide the wrapper to build!"
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exit 126
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fi
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PYTHON="python${PYTHON_VERSION}"
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if [[ $(uname) == "Darwin" ]]; then
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brew install wget
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else
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# Install a system package required by our library
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sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
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fi
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PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
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case $WRAPPER in
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"cython")
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BUILD_CYTHON="ON"
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BUILD_PYBIND="OFF"
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TYPEDEF_POINTS_TO_VECTORS="OFF"
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sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/cython/requirements.txt
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;;
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"pybind")
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BUILD_CYTHON="OFF"
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BUILD_PYBIND="ON"
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TYPEDEF_POINTS_TO_VECTORS="ON"
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sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
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;;
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*)
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exit 126
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;;
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esac
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git submodule update --init --recursive
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mkdir $GITHUB_WORKSPACE/build
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cd $GITHUB_WORKSPACE/build
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cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
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-DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
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-DGTSAM_USE_QUATERNIONS=OFF \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
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-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
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-DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \
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-DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
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-DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
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-DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
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-DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
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-DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
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-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
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make -j$(nproc) install &
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while ps -p $! > /dev/null
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do
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sleep 60
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now=$(date +%s)
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printf "%d seconds have elapsed\n" $(( (now - start) ))
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done
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case $WRAPPER in
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"cython")
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cd $GITHUB_WORKSPACE/build/cython
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$PYTHON setup.py install --user --prefix=
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cd $GITHUB_WORKSPACE/build/cython/gtsam/tests
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$PYTHON -m unittest discover
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;;
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"pybind")
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cd $GITHUB_WORKSPACE/python
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$PYTHON setup.py install --user --prefix=
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cd $GITHUB_WORKSPACE/wrap/python/gtsam_py/tests
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$PYTHON -m unittest discover
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;;
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*)
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echo "THIS SHOULD NEVER HAPPEN!"
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exit 125
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;;
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esac
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@ -1,20 +1,25 @@
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#!/bin/bash
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##########################################################
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# Build and test GTSAM for *nix based systems.
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# Specifically Linux and macOS.
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##########################################################
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# install TBB with _debug.so files
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function install_tbb()
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{
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TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
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TBB_VERSION=4.4.2
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TBB_DIR=tbb44_20151115oss
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TBB_VERSION=4.4.5
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TBB_DIR=tbb44_20160526oss
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TBB_SAVEPATH="/tmp/tbb.tgz"
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if [ "$TRAVIS_OS_NAME" == "linux" ]; then
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if [ "$(uname)" == "Linux" ]; then
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OS_SHORT="lin"
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TBB_LIB_DIR="intel64/gcc4.4"
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SUDO="sudo"
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elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
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OS_SHORT="lin"
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elif [ "$(uname)" == "Darwin" ]; then
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OS_SHORT="osx"
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TBB_LIB_DIR=""
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SUDO=""
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@ -25,7 +30,7 @@ function install_tbb()
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TBBROOT=/tmp/$TBB_DIR
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# Copy the needed files to the correct places.
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# This works correctly for travis builds, instead of setting path variables.
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# This works correctly for CI builds, instead of setting path variables.
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# This is what Homebrew does to install TBB on Macs
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$SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
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$SUDO cp -R $TBBROOT/include/ /usr/local/include/
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@ -38,15 +43,15 @@ function configure()
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set -e # Make sure any error makes the script to return an error code
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set -x # echo
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SOURCE_DIR=`pwd`
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BUILD_DIR=build
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SOURCE_DIR=$GITHUB_WORKSPACE
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BUILD_DIR=$GITHUB_WORKSPACE/build
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#env
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git clean -fd || true
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git submodule update --init --recursive
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rm -fr $BUILD_DIR || true
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mkdir $BUILD_DIR && cd $BUILD_DIR
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install_tbb
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[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
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if [ ! -z "$GCC_VERSION" ]; then
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export CC=gcc-$GCC_VERSION
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@ -63,7 +68,10 @@ function configure()
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
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-DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
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-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
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-DCMAKE_VERBOSE_MAKEFILE=OFF
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-DCMAKE_VERBOSE_MAKEFILE=ON \
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-DBOOST_ROOT=$BOOST_ROOT \
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-DBoost_NO_SYSTEM_PATHS=ON \
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-DBoost_ARCHITECTURE=-x64
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}
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@ -71,7 +79,7 @@ function configure()
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function finish ()
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{
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# Print ccache stats
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ccache -s
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[ -x "$(command -v ccache)" ] && ccache -s
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cd $SOURCE_DIR
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}
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@ -111,4 +119,4 @@ case $1 in
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-t)
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test
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;;
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esac
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esac
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@ -0,0 +1,78 @@
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name: Linux CI
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on: [push, pull_request]
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jobs:
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build:
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name: ${{ matrix.name }} ${{ matrix.build_type }}
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runs-on: ${{ matrix.os }}
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env:
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CTEST_OUTPUT_ON_FAILURE: ON
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CTEST_PARALLEL_LEVEL: 2
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CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
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GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
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strategy:
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fail-fast: false
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matrix:
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# Github Actions requires a single row to be added to the build matrix.
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# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
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name: [
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ubuntu-18.04-gcc-5,
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ubuntu-18.04-gcc-9,
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ubuntu-18.04-clang-9,
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]
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build_type: [Debug, Release]
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build_unstable: [ON]
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include:
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- name: ubuntu-18.04-gcc-5
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os: ubuntu-18.04
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compiler: gcc
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version: "5"
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- name: ubuntu-18.04-gcc-9
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os: ubuntu-18.04
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compiler: gcc
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version: "9"
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- name: ubuntu-18.04-clang-9
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os: ubuntu-18.04
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compiler: clang
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version: "9"
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Install (Linux)
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if: runner.os == 'Linux'
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run: |
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# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
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if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
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sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
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fi
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sudo apt-get -y update
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sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
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echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
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echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)"
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if [ "${{ matrix.compiler }}" = "gcc" ]; then
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sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
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echo "::set-env name=CC::gcc-${{ matrix.version }}"
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echo "::set-env name=CXX::g++-${{ matrix.version }}"
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else
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sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
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echo "::set-env name=CC::clang-${{ matrix.version }}"
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echo "::set-env name=CXX::clang++-${{ matrix.version }}"
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fi
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- name: Check Boost version
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if: runner.os == 'Linux'
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run: |
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echo "BOOST_ROOT = $BOOST_ROOT"
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- name: Build (Linux)
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if: runner.os == 'Linux'
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run: |
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bash .github/scripts/unix.sh -t
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@ -0,0 +1,51 @@
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name: macOS CI
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on: [pull_request]
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jobs:
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build:
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name: ${{ matrix.name }} ${{ matrix.build_type }}
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runs-on: ${{ matrix.os }}
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env:
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CTEST_OUTPUT_ON_FAILURE: ON
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CTEST_PARALLEL_LEVEL: 2
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CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
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GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
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strategy:
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fail-fast: false
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matrix:
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# Github Actions requires a single row to be added to the build matrix.
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# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
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name: [
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macOS-10.15-xcode-11.3.1,
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]
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build_type: [Debug, Release]
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build_unstable: [ON]
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include:
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- name: macOS-10.15-xcode-11.3.1
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os: macOS-10.15
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compiler: xcode
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version: "11.3.1"
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Install (macOS)
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if: runner.os == 'macOS'
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run: |
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brew install cmake ninja boost
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if [ "${{ matrix.compiler }}" = "gcc" ]; then
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brew install gcc@${{ matrix.version }}
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echo "::set-env name=CC::gcc-${{ matrix.version }}"
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echo "::set-env name=CXX::g++-${{ matrix.version }}"
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else
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sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
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echo "::set-env name=CC::clang"
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echo "::set-env name=CXX::clang++"
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fi
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- name: Build (macOS)
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if: runner.os == 'macOS'
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run: |
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bash .github/scripts/unix.sh -t
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@ -0,0 +1,95 @@
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name: Python CI
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on: [pull_request]
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jobs:
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build:
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name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
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runs-on: ${{ matrix.os }}
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env:
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CTEST_OUTPUT_ON_FAILURE: ON
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CTEST_PARALLEL_LEVEL: 2
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CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
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PYTHON_VERSION: ${{ matrix.python_version }}
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WRAPPER: ${{ matrix.wrapper }}
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strategy:
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fail-fast: false
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matrix:
|
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# Github Actions requires a single row to be added to the build matrix.
|
||||
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
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name: [
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ubuntu-18.04-gcc-5,
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ubuntu-18.04-gcc-9,
|
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ubuntu-18.04-clang-9,
|
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macOS-10.15-xcode-11.3.1,
|
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]
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|
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build_type: [Debug, Release]
|
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python_version: [3]
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wrapper: [cython]
|
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include:
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- name: ubuntu-18.04-gcc-5
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os: ubuntu-18.04
|
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compiler: gcc
|
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version: "5"
|
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|
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- name: ubuntu-18.04-gcc-9
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os: ubuntu-18.04
|
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compiler: gcc
|
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version: "9"
|
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|
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- name: ubuntu-18.04-clang-9
|
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os: ubuntu-18.04
|
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compiler: clang
|
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version: "9"
|
||||
|
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- name: macOS-10.15-xcode-11.3.1
|
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os: macOS-10.15
|
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compiler: xcode
|
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version: "11.3.1"
|
||||
|
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steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@master
|
||||
- name: Install (Linux)
|
||||
if: runner.os == 'Linux'
|
||||
run: |
|
||||
# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
|
||||
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
|
||||
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
|
||||
fi
|
||||
sudo apt-get -y update
|
||||
|
||||
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
|
||||
|
||||
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
|
||||
echo "::set-env name=CC::gcc-${{ matrix.version }}"
|
||||
echo "::set-env name=CXX::g++-${{ matrix.version }}"
|
||||
else
|
||||
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
|
||||
echo "::set-env name=CC::clang-${{ matrix.version }}"
|
||||
echo "::set-env name=CXX::clang++-${{ matrix.version }}"
|
||||
fi
|
||||
- name: Install (macOS)
|
||||
if: runner.os == 'macOS'
|
||||
run: |
|
||||
brew install cmake ninja boost
|
||||
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||
brew install gcc@${{ matrix.version }}
|
||||
echo "::set-env name=CC::gcc-${{ matrix.version }}"
|
||||
echo "::set-env name=CXX::g++-${{ matrix.version }}"
|
||||
else
|
||||
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
|
||||
echo "::set-env name=CC::clang"
|
||||
echo "::set-env name=CXX::clang++"
|
||||
fi
|
||||
- name: Build (Linux)
|
||||
if: runner.os == 'Linux'
|
||||
run: |
|
||||
bash .github/scripts/python.sh
|
||||
- name: Build (macOS)
|
||||
if: runner.os == 'macOS'
|
||||
run: |
|
||||
bash .github/scripts/python.sh
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
name: Windows CI
|
||||
|
||||
on: [pull_request]
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: ${{ matrix.name }} ${{ matrix.build_type }}
|
||||
runs-on: ${{ matrix.os }}
|
||||
|
||||
env:
|
||||
CTEST_OUTPUT_ON_FAILURE: ON
|
||||
CTEST_PARALLEL_LEVEL: 2
|
||||
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
# Github Actions requires a single row to be added to the build matrix.
|
||||
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||
name: [
|
||||
windows-2016-cl,
|
||||
windows-2019-cl,
|
||||
]
|
||||
|
||||
build_type: [Debug, Release]
|
||||
build_unstable: [ON]
|
||||
include:
|
||||
- name: windows-2016-cl
|
||||
os: windows-2016
|
||||
compiler: cl
|
||||
|
||||
- name: windows-2019-cl
|
||||
os: windows-2019
|
||||
compiler: cl
|
||||
|
||||
steps:
|
||||
- name: Checkout
|
||||
uses: actions/checkout@master
|
||||
- name: Install (Windows)
|
||||
if: runner.os == 'Windows'
|
||||
shell: powershell
|
||||
run: |
|
||||
Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
|
||||
scoop install ninja --global
|
||||
if ("${{ matrix.compiler }}".StartsWith("clang")) {
|
||||
scoop install llvm --global
|
||||
}
|
||||
if ("${{ matrix.compiler }}" -eq "gcc") {
|
||||
# Chocolatey GCC is broken on the windows-2019 image.
|
||||
# See: https://github.com/DaanDeMeyer/doctest/runs/231595515
|
||||
# See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
|
||||
scoop install gcc --global
|
||||
echo "::set-env name=CC::gcc"
|
||||
echo "::set-env name=CXX::g++"
|
||||
} elseif ("${{ matrix.compiler }}" -eq "clang") {
|
||||
echo "::set-env name=CC::clang"
|
||||
echo "::set-env name=CXX::clang++"
|
||||
} else {
|
||||
echo "::set-env name=CC::${{ matrix.compiler }}"
|
||||
echo "::set-env name=CXX::${{ matrix.compiler }}"
|
||||
}
|
||||
# Scoop modifies the PATH so we make the modified PATH global.
|
||||
echo "::set-env name=PATH::$env:PATH"
|
||||
- name: Build (Windows)
|
||||
if: runner.os == 'Windows'
|
||||
run: |
|
||||
cmake -E remove_directory build
|
||||
echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
|
||||
cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
|
||||
cmake --build build --config ${{ matrix.build_type }} --target gtsam
|
||||
cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
|
||||
cmake --build build --config ${{ matrix.build_type }} --target wrap
|
||||
cmake --build build --config ${{ matrix.build_type }} --target check.base
|
||||
cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
|
||||
cmake --build build --config ${{ matrix.build_type }} --target check.linear
|
||||
|
|
@ -1,6 +1,9 @@
|
|||
# This triggers Cython builds on `gtsam-manylinux-build`
|
||||
name: Trigger Python Builds
|
||||
on: push
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- develop
|
||||
jobs:
|
||||
triggerCython:
|
||||
runs-on: ubuntu-latest
|
||||
|
|
|
|||
|
|
@ -1,43 +0,0 @@
|
|||
#!/bin/bash
|
||||
set -x -e
|
||||
|
||||
if [ -z ${PYTHON_VERSION+x} ]; then
|
||||
echo "Please provide the Python version to build against!"
|
||||
exit 127
|
||||
fi
|
||||
|
||||
PYTHON="python${PYTHON_VERSION}"
|
||||
|
||||
if [[ $(uname) == "Darwin" ]]; then
|
||||
brew install wget
|
||||
else
|
||||
# Install a system package required by our library
|
||||
sudo apt-get install wget libicu-dev python3-pip python3-setuptools
|
||||
fi
|
||||
|
||||
CURRDIR=$(pwd)
|
||||
|
||||
sudo $PYTHON -m pip install -r ./cython/requirements.txt
|
||||
|
||||
mkdir $CURRDIR/build
|
||||
cd $CURRDIR/build
|
||||
|
||||
cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
|
||||
-DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
|
||||
-DGTSAM_USE_QUATERNIONS=OFF \
|
||||
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
|
||||
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
|
||||
-DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
|
||||
-DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
|
||||
-DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
|
||||
-DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
|
||||
|
||||
make -j$(nproc) install
|
||||
|
||||
cd cython
|
||||
|
||||
sudo $PYTHON setup.py install
|
||||
|
||||
cd $CURRDIR/cython/gtsam/tests
|
||||
|
||||
$PYTHON -m unittest discover
|
||||
140
.travis.yml
140
.travis.yml
|
|
@ -1,140 +0,0 @@
|
|||
language: cpp
|
||||
cache: ccache
|
||||
dist: xenial
|
||||
|
||||
addons:
|
||||
apt:
|
||||
sources:
|
||||
- ubuntu-toolchain-r-test
|
||||
- sourceline: 'deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-9 main'
|
||||
key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key'
|
||||
packages:
|
||||
- g++-9
|
||||
- clang-9
|
||||
- build-essential pkg-config
|
||||
- cmake
|
||||
- python3-dev libpython-dev
|
||||
- python3-numpy
|
||||
- libboost-all-dev
|
||||
|
||||
# before_install:
|
||||
# - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
|
||||
|
||||
install:
|
||||
- if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi
|
||||
- if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
|
||||
|
||||
# We first do the compile stage specified below, then the matrix expansion specified after.
|
||||
stages:
|
||||
- compile
|
||||
- test
|
||||
- special
|
||||
|
||||
env:
|
||||
global:
|
||||
- MAKEFLAGS="-j3"
|
||||
- CCACHE_SLOPPINESS=pch_defines,time_macros
|
||||
|
||||
# Compile stage without building examples/tests to populate the caches.
|
||||
jobs:
|
||||
# -------- STAGE 1: COMPILE -----------
|
||||
include:
|
||||
# on Mac, GCC
|
||||
- stage: compile
|
||||
os: osx
|
||||
compiler: gcc
|
||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
script: bash .travis.sh -b
|
||||
- stage: compile
|
||||
os: osx
|
||||
compiler: gcc
|
||||
env: CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -b
|
||||
# on Mac, CLANG
|
||||
- stage: compile
|
||||
os: osx
|
||||
compiler: clang
|
||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
script: bash .travis.sh -b
|
||||
- stage: compile
|
||||
os: osx
|
||||
compiler: clang
|
||||
env: CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -b
|
||||
# on Linux, GCC
|
||||
- stage: compile
|
||||
os: linux
|
||||
compiler: gcc
|
||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
script: bash .travis.sh -b
|
||||
- stage: compile
|
||||
os: linux
|
||||
compiler: gcc
|
||||
env: CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -b
|
||||
# on Linux, CLANG
|
||||
- stage: compile
|
||||
os: linux
|
||||
compiler: clang
|
||||
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
script: bash .travis.sh -b
|
||||
- stage: compile
|
||||
os: linux
|
||||
compiler: clang
|
||||
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -b
|
||||
# on Linux, with deprecated ON to make sure that path still compiles/tests
|
||||
- stage: special
|
||||
os: linux
|
||||
compiler: clang
|
||||
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
|
||||
script: bash .travis.sh -b
|
||||
# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
|
||||
# - stage: special
|
||||
# os: linux
|
||||
# compiler: gcc
|
||||
# env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
|
||||
# script: bash .travis.sh -t
|
||||
# -------- STAGE 2: TESTS -----------
|
||||
# on Mac, GCC
|
||||
- stage: test
|
||||
os: osx
|
||||
compiler: clang
|
||||
env: CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -t
|
||||
- stage: test
|
||||
os: osx
|
||||
compiler: clang
|
||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
script: bash .travis.sh -t
|
||||
- stage: test
|
||||
os: linux
|
||||
compiler: gcc
|
||||
env: CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -t
|
||||
# - stage: test
|
||||
# os: linux
|
||||
# compiler: gcc
|
||||
# env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
||||
# script: bash .travis.sh -t
|
||||
- stage: test
|
||||
os: linux
|
||||
compiler: clang
|
||||
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
|
||||
script: bash .travis.sh -t
|
||||
# on Linux, with quaternions ON to make sure that path still compiles/tests
|
||||
- stage: special
|
||||
os: linux
|
||||
compiler: clang
|
||||
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON
|
||||
script: bash .travis.sh -t
|
||||
- stage: special
|
||||
os: linux
|
||||
compiler: gcc
|
||||
env: PYTHON_VERSION=3
|
||||
script: bash .travis.python.sh
|
||||
- stage: special
|
||||
os: osx
|
||||
compiler: clang
|
||||
env: PYTHON_VERSION=3
|
||||
script: bash .travis.python.sh
|
||||
33
appveyor.yml
33
appveyor.yml
|
|
@ -1,33 +0,0 @@
|
|||
# version format
|
||||
version: 4.0.3-{branch}-build{build}
|
||||
|
||||
os: Visual Studio 2019
|
||||
|
||||
clone_folder: c:\projects\gtsam
|
||||
|
||||
platform: x64
|
||||
configuration: Release
|
||||
|
||||
environment:
|
||||
CTEST_OUTPUT_ON_FAILURE: 1
|
||||
BOOST_ROOT: C:/Libraries/boost_1_71_0
|
||||
|
||||
build_script:
|
||||
- cd c:\projects\gtsam\build
|
||||
# As of Dec 2019, not all unit tests build cleanly for MSVC, so we'll just
|
||||
# check that parts of GTSAM build correctly:
|
||||
#- cmake --build .
|
||||
- cmake --build . --config Release --target gtsam
|
||||
- cmake --build . --config Release --target gtsam_unstable
|
||||
- cmake --build . --config Release --target wrap
|
||||
#- cmake --build . --target check
|
||||
- cmake --build . --config Release --target check.base
|
||||
- cmake --build . --config Release --target check.base_unstable
|
||||
- cmake --build . --config Release --target check.linear
|
||||
|
||||
before_build:
|
||||
- cd c:\projects\gtsam
|
||||
- mkdir build
|
||||
- cd build
|
||||
# Disable examples to avoid AppVeyor timeout
|
||||
- cmake -G "Visual Studio 16 2019" .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF
|
||||
|
|
@ -30,8 +30,8 @@ class GroundTruth:
|
|||
|
||||
def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4):
|
||||
self.K = K
|
||||
self.cameras = [Pose3()] * nrCameras
|
||||
self.points = [Point3()] * nrPoints
|
||||
self.cameras = [gtsam.Pose3()] * nrCameras
|
||||
self.points = [gtsam.Point3(0, 0, 0)] * nrPoints
|
||||
|
||||
def print_(self, s=""):
|
||||
print(s)
|
||||
|
|
@ -99,11 +99,11 @@ def generate_data(options):
|
|||
r = 40
|
||||
for i in range(options.nrCameras):
|
||||
theta = i * 2 * np.pi / options.nrCameras
|
||||
t = Point3(r * np.cos(theta), r * np.sin(theta), height)
|
||||
truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
|
||||
Point3(),
|
||||
Point3(0, 0, 1),
|
||||
truth.K)
|
||||
t = gtsam.Point3(r * np.cos(theta), r * np.sin(theta), height)
|
||||
truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
|
||||
gtsam.Point3(0, 0, 0),
|
||||
gtsam.Point3(0, 0, 1),
|
||||
truth.K)
|
||||
# Create measurements
|
||||
for j in range(nrPoints):
|
||||
# All landmarks seen in every frame
|
||||
|
|
|
|||
|
|
@ -30,6 +30,14 @@
|
|||
#include <iostream>
|
||||
#include <typeinfo> // operator typeid
|
||||
|
||||
#ifdef _WIN32
|
||||
#define GENERICVALUE_VISIBILITY
|
||||
#else
|
||||
// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
|
||||
// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
|
||||
#define GENERICVALUE_VISIBILITY GTSAM_EXPORT
|
||||
#endif
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -21,6 +21,14 @@
|
|||
#include <gtsam/base/Lie.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
|
||||
#ifdef _WIN32
|
||||
#define BETWEENFACTOR_VISIBILITY
|
||||
#else
|
||||
// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
|
||||
// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
|
||||
#define BETWEENFACTOR_VISIBILITY GTSAM_EXPORT
|
||||
#endif
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/**
|
||||
|
|
|
|||
Loading…
Reference in New Issue