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basalt/test/CMakeLists.txt

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cmake: adjust to basalt headers cmake changes
2021-11-22 02:20:10 +01:00
cmake_minimum_required(VERSION 3.10...3.18)
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
# Note: add_subdirectory(googletest ...) is called in basalt-headers
Initial commit
2019-04-14 21:07:42 +02:00
include_directories(../thirdparty/basalt-headers/test/include)
add_executable(test_spline_opt src/test_spline_opt.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_spline_opt gtest gtest_main basalt_internal)
Initial commit
2019-04-14 21:07:42 +02:00
add_executable(test_vio src/test_vio.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_vio gtest gtest_main basalt_internal)
Initial commit
2019-04-14 21:07:42 +02:00
add_executable(test_nfr src/test_nfr.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_nfr gtest gtest_main basalt_internal)
Initial commit
2019-04-14 21:07:42 +02:00
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
add_executable(test_qr src/test_qr.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_qr gtest gtest_main basalt_internal)
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
add_executable(test_linearization src/test_linearization.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_linearization gtest gtest_main basalt_internal)
Initial commit
2019-04-14 21:07:42 +02:00
Update patch jacobian computation
2022-01-22 09:00:13 +01:00
add_executable(test_patch src/test_patch.cpp)
Fix eigen ODR violations by limiting exported symbols on libbasalt.so
2022-08-15 17:52:17 +02:00
target_link_libraries(test_patch gtest gtest_main basalt_internal)
Update patch jacobian computation
2022-01-22 09:00:13 +01:00
Initial commit
2019-04-14 21:07:42 +02:00
enable_testing()
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
include(GoogleTest)
switched to other test discovery
2019-06-07 16:25:21 +02:00
#gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 60)
#gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 60)
#gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 60)
gtest_add_tests(TARGET test_spline_opt AUTO)
gtest_add_tests(TARGET test_vio AUTO)
gtest_add_tests(TARGET test_nfr AUTO)
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
gtest_add_tests(TARGET test_qr AUTO)
gtest_add_tests(TARGET test_linearization AUTO)
Update patch jacobian computation
2022-01-22 09:00:13 +01:00
gtest_add_tests(TARGET test_patch AUTO)