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basalt/.gitlab-ci.yml

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image: vladyslavusenko/b_image_focal:latest
variables:
GIT_SUBMODULE_STRATEGY: recursive
BUILD_TYPE: Release
CXX_MARCH: native
CMAKE_INSTALL_PREFIX: /usr/
DEB_DIR: deb
stages:
- docker
- build
- test
- eval
- results
- deploy
- repository
# template for docker builds with ccache
.prepare_docker_template: &prepare_docker_definition
tags:
- docker
before_script:
- mkdir -p ccache
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
- ccache -s
cache:
paths:
- ccache/
key: ${CI_JOB_NAME}
# template for build & unit test & make deb configurations
.compile_test_package_template: &compile_test_package_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
- make package
- 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
# 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:
- dpkg -i deb_focal/*.deb
- cd scripts/eval_full
- ./run_evaluations.sh
# 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:
- dpkg -i deb_focal/*.deb
- cd scripts/eval_full
- ./run_evaluations_tumvi.sh
.eval_kitti_template: &eval_kitti_definition
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:
- dpkg -i deb_focal/*.deb
- cd scripts/eval_full
- ./run_evaluations_kitti.sh
bionic-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_bionic:latest
# only:
# - master
variables:
# 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
CXX_MARCH: 'haswell'
DEB_DIR: deb_bionic
artifacts:
paths:
- deb_bionic/*.deb
expire_in: 1 week
focal-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_focal:latest
variables:
CXX_MARCH: 'haswell'
DEB_DIR: deb_focal
artifacts:
paths:
- deb_focal/*.deb
- scripts/eval_full/*
expire_in: 1 week
focal-debug-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_focal:latest
only:
- master
variables:
BUILD_TYPE: CiDebug
focal-relwithdebinfo-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_focal:latest
variables:
BUILD_TYPE: CiRelWithDebInfo
only:
- master
focal-gcc10-relwithdebinfo-compile:
<<: *prepare_docker_definition
image: vladyslavusenko/b_image_focal:latest
variables:
BUILD_TYPE: CiRelWithDebInfo
CC: gcc-10
CXX: g++-10
only:
# - master
stage: build
script:
- add-apt-repository ppa:ubuntu-toolchain-r/ppa -y
- apt-get update
- apt-get install -y g++-10
- 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
# Compilation with GCC 11 is broken due to a bug that is fixed only in future relases 11.3 and 12
# See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=100438
# See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=99744#c15
# focal-gcc11-relwithdebinfo-compile:
# <<: *prepare_docker_definition
# image: vladyslavusenko/b_image_focal:latest
# variables:
# BUILD_TYPE: CiRelWithDebInfo
# CC: gcc-11
# CXX: g++-11
# only:
# # - master
# stage: build
# script:
# - add-apt-repository ppa:ubuntu-toolchain-r/test -y
# - apt-get update
# - apt-get install -y g++-11
# - 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
catalina-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.15"]
only:
# - master
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++
bigsur-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "11"]
only:
# - master
variables:
BUILD_TYPE: CiRelWithDebInfo
# 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
- (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)
bionic-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_bionic:latest
only:
- master
variables:
DEB_DIR: deb_bionic
GIT_STRATEGY: none
focal-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_focal:latest
only:
- master
variables:
DEB_DIR: deb_focal
GIT_STRATEGY: none
# evaluate on EuRoC sequences
eval_euroc_master:
<<: *eval_euroc_definition
only:
- master
# evaluate on EuRoC sequences
eval_euroc:
<<: *eval_euroc_definition
when: manual
except:
- master
allow_failure: false
# 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
# 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
# aggregate results for all EuRoC sequences
gen_results:
stage: results
variables:
GIT_STRATEGY: none
tags:
- docker
when: on_success
artifacts:
paths:
- euroc_results.txt
- kitti_results.txt
- tumvi_results.txt
- scripts/eval_full/eval_results/*
script:
- cd scripts/eval_full
- ./gen_results.py eval_results > euroc_results.txt
- cat euroc_results.txt
- ./gen_results_kitti.py eval_results_kitti > kitti_results.txt
- cat kitti_results.txt
- ./gen_results_tumvi.py eval_results_tumvi > tumvi_results.txt
- cat tumvi_results.txt
- mv euroc_results.txt ../../
- mv kitti_results.txt ../../
- mv tumvi_results.txt ../../
# deploy deb packages
deploy:
stage: deploy
when: manual
variables:
GIT_STRATEGY: none
tags:
- docker
only:
- master
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:
- scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/
- scp $SCP_FLAGS deb_focal/*.deb $REPOSITORY_URL/focal/
.docker_build_template: &docker_build_definition
image: docker:stable
stage: docker
when: manual
only:
- master
services:
- docker:stable-dind
tags:
- docker-dind
before_script:
- echo "$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
B_IMAGE_NAME: b_image_bionic
docker-build-focal:
<<: *docker_build_definition
variables:
DOCKER_TLS_CERTDIR: '/certs'
GIT_SUBMODULE_STRATEGY: none
B_IMAGE_NAME: b_image_focal
.repository_check_template: &repository_check_definition
stage: repository
when: manual
tags:
- docker
only:
- master
script:
- apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y gnupg2 rsync linux-generic
- 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
- apt-get update && apt-get dist-upgrade -y
- DEBIAN_FRONTEND=noninteractive apt-get install -y basalt
- basalt_rs_t265_vio --help
- basalt_rs_t265_record --help
bionic-repository-check:
image: ubuntu:18.04
<<: *repository_check_definition
variables:
GIT_STRATEGY: none
REPO_NAME: bionic
focal-repository-check:
image: ubuntu:20.04
<<: *repository_check_definition
variables:
GIT_STRATEGY: none
REPO_NAME: focal
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