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basalt/.gitlab-ci.yml

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Switch to 20.04 for base docker image
2020-08-09 10:24:39 +02:00
image: vladyslavusenko/b_image_focal:latest
Initial commit
2019-04-14 21:07:42 +02:00
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
GIT_SUBMODULE_STRATEGY: recursive
BUILD_TYPE: Release
CXX_MARCH: native
CMAKE_INSTALL_PREFIX: /usr/
DEB_DIR: deb
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
stages:
Added Docker related CI
2019-12-03 16:15:06 +01:00
- docker
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
- build
- test
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
- eval
update ci
2019-07-23 17:02:39 +02:00
- results
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
- deploy
Added Docker related CI
2019-12-03 16:15:06 +01:00
- repository
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# template for docker builds with ccache
.prepare_docker_template: &prepare_docker_definition
tags:
- docker
Initial commit
2019-04-14 21:07:42 +02:00
before_script:
- mkdir -p ccache
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
ci: use ci-job-name as cache key and print ccache info
2019-04-24 23:24:16 +02:00
- ccache -s
Initial commit
2019-04-14 21:07:42 +02:00
cache:
paths:
- ccache/
ci: use ci-job-name as cache key and print ccache info
2019-04-24 23:24:16 +02:00
key: ${CI_JOB_NAME}
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# template for build & unit test & make deb configurations
.compile_test_package_template: &compile_test_package_definition
stage: build
Initial commit
2019-04-14 21:07:42 +02:00
script:
- mkdir build
- cd build
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
Initial commit
2019-04-14 21:07:42 +02:00
- make -j3
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
- ctest
Initial commit
2019-04-14 21:07:42 +02:00
- make package
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
- cd ..
- mkdir $DEB_DIR
- mv build/*.deb $DEB_DIR/
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
# template for build & unit test configurations (no deb)
.compile_test_template: &compile_test_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
# smoke test to see if all executables at least start up
- ./basalt_calibrate --help
- ./basalt_calibrate_imu --help
- ./basalt_mapper --help
- ./basalt_mapper_sim --help
- ./basalt_mapper_sim_naive --help
- ./basalt_opt_flow --help
- ./basalt_vio --help
- ./basalt_vio_sim --help
# template to test debian
.test_deb_template: &test_deb_definition
stage: test
tags:
- docker
script:
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
update ci
2019-07-23 17:02:39 +02:00
# template to evaluate on EuRoC sequences
.eval_euroc_template: &eval_euroc_definition
stage: eval
parallel: 10
tags: [docker, dataset-eval]
variables:
GIT_STRATEGY: none
artifacts:
paths:
- scripts/eval_full/eval_results/*
expire_in: 1 week
script:
Switch to 20.04 for base docker image
2020-08-09 10:28:21 +02:00
- dpkg -i deb_focal/*.deb
update ci
2019-07-23 17:02:39 +02:00
- cd scripts/eval_full
- ./run_evaluations.sh
added tumvi eval
2020-03-06 12:51:28 +01:00
# template to evaluate on TUM-VI sequences
.eval_tumvi_template: &eval_tumvi_definition
stage: eval
parallel: 4
tags: [docker, dataset-eval]
variables:
GIT_STRATEGY: none
artifacts:
paths:
- scripts/eval_full/eval_results_tumvi/*
expire_in: 1 week
script:
Switch to 20.04 for base docker image
2020-08-09 10:28:21 +02:00
- dpkg -i deb_focal/*.deb
added tumvi eval
2020-03-06 12:51:28 +01:00
- cd scripts/eval_full
- ./run_evaluations_tumvi.sh
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
.eval_kitti_template: &eval_kitti_definition
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
stage: eval
parallel: 10
tags: [docker, dataset-eval]
variables:
GIT_STRATEGY: none
artifacts:
paths:
- scripts/eval_full/eval_results_kitti/*
expire_in: 1 week
script:
Switch to 20.04 for base docker image
2020-08-09 10:28:21 +02:00
- dpkg -i deb_focal/*.deb
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
- cd scripts/eval_full
- ./run_evaluations_kitti.sh
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
bionic-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
Updates to Docker, Readme and CI
2020-04-28 23:01:10 +02:00
image: vladyslavusenko/b_image_bionic:latest
ci: switch to clang-12 for bionic
2021-10-15 17:00:16 +02:00
# only:
# - master
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
ci: switch to clang-12 for bionic
2021-10-15 17:00:16 +02:00
# compile w/ clang; GCC 7.5 has multiple issues: magic_enum is not
# supported, Eigen hast false positive maybe-uninitialized
# warnings, structured bindings give false positive
# "unused-variable" warnings. Using GCC 9 from the Ubuntu's
# toolchain testing PPA would make the built debian package depend
# on the updatd libstdc++. So we use clang instead, which works
# with the default libstdc++ on bionic and doesn't lead to
# additional runtime dependencies for the debian package.
CC: clang-12
CXX: clang++-12
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
CXX_MARCH: 'haswell'
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
DEB_DIR: deb_bionic
Initial commit
2019-04-14 21:07:42 +02:00
artifacts:
paths:
- deb_bionic/*.deb
expire_in: 1 week
Added focal to CI
2020-04-28 12:43:52 +02:00
focal-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_focal:latest
variables:
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
CXX_MARCH: 'haswell'
Added focal to CI
2020-04-28 12:43:52 +02:00
DEB_DIR: deb_focal
artifacts:
paths:
- deb_focal/*.deb
Switch to 20.04 for base docker image
2020-08-09 10:28:21 +02:00
- scripts/eval_full/*
Added focal to CI
2020-04-28 12:43:52 +02:00
expire_in: 1 week
small ci fux
2021-08-06 11:04:45 +02:00
focal-debug-compile:
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
<<: *prepare_docker_definition
<<: *compile_test_package_definition
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
image: vladyslavusenko/b_image_focal:latest
small changes to ci
2019-05-15 14:55:46 +02:00
only:
- master
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
Disable Debug symbols in CI to reduce the ccache size
2019-06-09 20:49:03 +02:00
BUILD_TYPE: CiDebug
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
small ci fux
2021-08-06 11:04:45 +02:00
focal-relwithdebinfo-compile:
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
<<: *prepare_docker_definition
<<: *compile_test_package_definition
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
image: vladyslavusenko/b_image_focal:latest
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
Disable Debug symbols in CI to reduce the ccache size
2019-06-09 20:49:03 +02:00
BUILD_TYPE: CiRelWithDebInfo
update ci
2019-07-23 17:02:39 +02:00
only:
- master
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
Disable elcapitan
2019-12-24 18:31:01 +01:00
# elcapitan-relwithdebinfo-compile:
# <<: *compile_test_definition
# tags: [macos, "10.11"]
# only:
# - master
# variables:
# BUILD_TYPE: CiRelWithDebInfo
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
ci: disable macOS Mojave
2021-10-15 15:22:10 +02:00
# mojave-relwithdebinfo-compile:
# <<: *compile_test_definition
# tags: [macos, "10.14"]
# only:
# - master
# variables:
# BUILD_TYPE: CiRelWithDebInfo
ci: mojave
2019-05-18 13:00:51 +02:00
ci: add catalina jobs
2020-06-24 12:21:17 +02:00
catalina-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.15"]
only:
ICCV'21 square root marginalization paper code release Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
2021-10-15 14:50:02 +02:00
# - master
ci: add catalina jobs
2020-06-24 12:21:17 +02:00
variables:
BUILD_TYPE: CiRelWithDebInfo
catalina-brewclang-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.15"]
only:
- master
variables:
BUILD_TYPE: CiRelWithDebInfo
CC: /usr/local/opt/llvm/bin/clang
CXX: /usr/local/opt/llvm/bin/clang++
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# check if clang-format would make any changes
clang-format:
tags:
- docker
stage: build
variables:
GIT_SUBMODULE_STRATEGY: none
script:
- ./scripts/clang-format-all.sh
# check if any files are now modified and error if yes
Ignore un-updated submodules in clang-format check.
2019-05-14 22:49:02 +02:00
- (if [ -n "`git diff --name-only --diff-filter=M --ignore-submodules`" ]; then echo $'\n Some files are not properly formatted. You can use "./scripts/clang-format-all.sh".\n'; git diff --diff-filter=M; false; fi)
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
bionic-test:
<<: *test_deb_definition
Updates to Docker, Readme and CI
2020-04-28 23:01:10 +02:00
image: vladyslavusenko/b_image_bionic:latest
ci: use RelWithDebInfo build for non-master branches - unlike Release, it builds with debug assertions and eigen-nan intialization, which may help to spot some bugs earlier.
2019-05-18 14:15:14 +02:00
only:
- master
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
DEB_DIR: deb_bionic
small fix for ci
2019-04-25 16:14:07 +02:00
GIT_STRATEGY: none
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
Added focal to CI
2020-04-28 12:43:52 +02:00
focal-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_focal:latest
only:
- master
variables:
DEB_DIR: deb_focal
GIT_STRATEGY: none
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# evaluate on EuRoC sequences
update ci
2019-07-23 17:02:39 +02:00
eval_euroc_master:
<<: *eval_euroc_definition
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
only:
- master
update ci
2019-07-23 17:02:39 +02:00
# evaluate on EuRoC sequences
eval_euroc:
<<: *eval_euroc_definition
when: manual
update ci
2019-07-23 17:05:03 +02:00
except:
- master
update ci
2019-07-23 17:02:39 +02:00
allow_failure: false
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
added tumvi eval
2020-03-06 12:51:28 +01:00
# evaluate on TUM-VI sequences
eval_tumvi_master:
<<: *eval_tumvi_definition
only:
- master
# evaluate on TUM-VI sequences
eval_tumvi:
<<: *eval_tumvi_definition
when: manual
except:
- master
allow_failure: false
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
# evaluate on KITTI sequences
eval_kitti_master:
<<: *eval_kitti_definition
only:
- master
# evaluate on KITTI sequences
eval_kitti:
<<: *eval_kitti_definition
when: manual
except:
- master
allow_failure: false
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# aggregate results for all EuRoC sequences
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
gen_results:
update ci
2019-07-23 17:02:39 +02:00
stage: results
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
variables:
GIT_STRATEGY: none
Update .gitlab-ci.yml
2019-04-18 13:39:31 +02:00
tags:
- docker
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
when: on_success
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
artifacts:
paths:
- euroc_results.txt
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
- kitti_results.txt
added tumvi eval
2020-03-06 12:51:28 +01:00
- tumvi_results.txt
added trajectory saving for Euroc
2019-10-31 14:16:02 +01:00
- scripts/eval_full/eval_results/*
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
script:
- cd scripts/eval_full
- ./gen_results.py eval_results > euroc_results.txt
- cat euroc_results.txt
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
- ./gen_results_kitti.py eval_results_kitti > kitti_results.txt
- cat kitti_results.txt
added tumvi eval
2020-03-06 12:51:28 +01:00
- ./gen_results_tumvi.py eval_results_tumvi > tumvi_results.txt
small fix
2020-03-06 14:45:48 +01:00
- cat tumvi_results.txt
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
- mv euroc_results.txt ../../
Added stereo (no IMU) odometry and KITTI evaluation
2019-08-23 10:01:40 +02:00
- mv kitti_results.txt ../../
added tumvi eval
2020-03-06 12:51:28 +01:00
- mv tumvi_results.txt ../../
Added euroc evaluation to CI
2019-04-15 17:38:58 +02:00
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
# deploy deb packages
Initial commit
2019-04-14 21:07:42 +02:00
deploy:
stage: deploy
added manual trigger to deploy
2019-05-15 09:24:35 +02:00
when: manual
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
variables:
GIT_STRATEGY: none
Update .gitlab-ci.yml
2019-04-18 13:39:31 +02:00
tags:
- docker
ci and cmake improvements Changes along the line of https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2, and more. Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial & Bionic. (macOS 10.14 is not yet in CI, but tested locally.) Changes similar to basalt-headers: - cmake: raise minimum version to 3.10 - cmake: add workarounds to support macOS < 10.14 - cmake: set ccache only if not yet set and print info - cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults. - tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder. - tests: simplify gtest / gtest_main linking - tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test. - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml - ci: clang-format job Additional changes: - cmake: unify formatting - cmake: various diagnostic warnings for situations that are unsupported (should help with gitlab issues). - cmake options to disable openmp, pass custom eigen root, compiler-launcher, additional CXX_FLAGS that can override default flags also for submodules (opengv etc), ... - cmake: moved configuration of submodule libs to `thirdparty/CMakeLists.txt`. This includes various fixes for limiatations of the thirdparty cmake definitions. In particular ensures that correct eigen is used, that opengv respects march and CXX_FLAGS passed from command line. - cmake: simplified linking of executables. Linking `basalt` is enough. - cmake: basalt sources now build with the minimal disabled warnings ("-Wall Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions" for clang). Additional flags are now only set for the submodule targets in thirdparty. - tests: Running ctest in build folder now also runs the unit tests from basalt-headers. - ci: in addition to the additional compile jobs and there are now also 'test' jobs, that check that the executables in the deb's work (runs on all branches, not just master).
2019-04-24 14:21:24 +02:00
only:
- master
Initial commit
2019-04-14 21:07:42 +02:00
before_script:
- eval $(ssh-agent -s)
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
- chmod 644 ~/.ssh/known_hosts
script:
Update .gitlab-ci.yml
2019-04-18 12:57:20 +02:00
- scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/
Added focal to CI
2020-04-28 12:43:52 +02:00
- scp $SCP_FLAGS deb_focal/*.deb $REPOSITORY_URL/focal/
Added Docker related CI
2019-12-03 16:15:06 +01:00
Initial commit
2019-04-14 21:07:42 +02:00
Added Docker related CI
2019-12-03 16:15:06 +01:00
.docker_build_template: &docker_build_definition
image: docker:stable
stage: docker
when: manual
only:
- master
services:
- docker:stable-dind
tags:
- docker-dind
before_script:
- echo "$CI_REGISTRY_PASSWORD" | docker login -u "$CI_REGISTRY_USER" --password-stdin $CI_REGISTRY
script:
- cd docker/"$B_IMAGE_NAME"
- docker build -t "$CI_REGISTRY_IMAGE"/"$B_IMAGE_NAME" .
- docker push "$CI_REGISTRY_IMAGE"/"$B_IMAGE_NAME"
docker-build-bionic:
<<: *docker_build_definition
variables:
DOCKER_TLS_CERTDIR: '/certs'
GIT_SUBMODULE_STRATEGY: none
Updates to Docker, Readme and CI
2020-04-28 23:01:10 +02:00
B_IMAGE_NAME: b_image_bionic
Added Docker related CI
2019-12-03 16:15:06 +01:00
added docker build focal
2020-04-28 11:59:51 +02:00
docker-build-focal:
<<: *docker_build_definition
variables:
DOCKER_TLS_CERTDIR: '/certs'
GIT_SUBMODULE_STRATEGY: none
B_IMAGE_NAME: b_image_focal
Added Docker related CI
2019-12-03 16:15:06 +01:00
.repository_check_template: &repository_check_definition
stage: repository
when: manual
tags:
- docker
only:
- master
script:
Update .gitlab-ci.yml
2021-10-15 22:54:50 +02:00
- apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y gnupg2 rsync linux-generic
Update apt repository info
2021-08-07 10:40:48 +02:00
- apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 0AD9A3000D97B6C9
- echo "deb [arch=amd64] http://packages.usenko.eu/ubuntu $REPO_NAME $REPO_NAME/main" > /etc/apt/sources.list.d/basalt.list
Update .gitlab-ci.yml
2021-12-01 20:01:50 +01:00
- apt-get update && apt-get upgrade -y
- DEBIAN_FRONTEND=noninteractive apt-get install -y basalt
Added Docker related CI
2019-12-03 16:15:06 +01:00
- basalt_rs_t265_vio --help
- basalt_rs_t265_record --help
Updates to Docker, Readme and CI
2020-04-28 23:01:10 +02:00
bionic-repository-check:
Added Docker related CI
2019-12-03 16:15:06 +01:00
image: ubuntu:18.04
<<: *repository_check_definition
variables:
GIT_STRATEGY: none
REPO_NAME: bionic
Updates to Docker, Readme and CI
2020-04-28 23:01:10 +02:00
focal-repository-check:
Added focal to CI
2020-04-28 12:43:52 +02:00
image: ubuntu:20.04
<<: *repository_check_definition
variables:
GIT_STRATEGY: none
ci: add catalina jobs
2020-06-24 12:21:17 +02:00
REPO_NAME: focal