Update ceres::LocalParameterization to ceres::Manifold #316
Workflow file for this run
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| name: build-and-test | |
| on: | |
| push: | |
| branches: | |
| - devel | |
| - master | |
| pull_request: | |
| branches: | |
| - devel | |
| workflow_dispatch: | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| jobs: | |
| build-ubuntu: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04] | |
| build_type: [Release, Debug] | |
| compiler: [ | |
| { | |
| "cc": "gcc", | |
| "cxx": "g++" | |
| }, { | |
| "cc": "clang", | |
| "cxx": "clang++" | |
| } | |
| ] | |
| env: | |
| CC: ${{ matrix.compiler.cc }} | |
| CXX: ${{ matrix.compiler.cxx }} | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libeigen3-dev | |
| mkdir ${{runner.workspace}}/build | |
| - name: Display config | |
| run: | | |
| echo "OS:" && $RUNNER_OS && echo "" | |
| echo "Compiler:" && $CC && $CXX && echo "" | |
| echo "Eigen:" && apt-cache policy libeigen3-dev | grep Installed | |
| - name: Configure | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| build-mac: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| # Xcode 10.3 & Xcode 12.2 | |
| # removing macos-11.0 for now, see | |
| #https://github.com/actions/virtual-environments/issues/841 | |
| os: [macos-11, macos-12] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| brew install eigen | |
| mkdir ${{runner.workspace}}/build | |
| - name: Display config | |
| run: | | |
| echo "OS:" && $RUNNER_OS && echo "" | |
| echo "Compiler:" && clang -v && echo "" | |
| echo "Eigen:" && brew info eigen | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| build-win: | |
| runs-on: ${{ matrix.combinations.os }} | |
| strategy: | |
| matrix: | |
| combinations: [ | |
| { | |
| "os": "windows-2019", | |
| "cmake_generator": "Visual Studio 16 2019" | |
| }, { | |
| "os": "windows-2022", | |
| "cmake_generator": "Visual Studio 17 2022" | |
| } | |
| ] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| vcpkg install eigen3:x64-windows | |
| cd ${{runner.workspace}} | |
| mkdir build | |
| - name: Display config | |
| shell: bash | |
| run: | | |
| echo "OS:" && $RUNNER_OS && echo "" | |
| echo "Eigen:" && vcpkg list | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -G"${{ matrix.combinations.cmake_generator }}" -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake --build . --config Release | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: ctest . -C Release | |
| cppcheck: | |
| needs: [build-ubuntu] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libunwind-dev | |
| sudo apt install -y libceres-dev cppcheck | |
| mkdir ${{runner.workspace}}/build | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DENABLE_CPPCHECK=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make run-cppcheck | |
| valgrind: | |
| needs: [build-ubuntu] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libunwind-dev | |
| sudo apt install -y libceres-dev valgrind | |
| mkdir ${{runner.workspace}}/build | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DENABLE_VALGRIND=ON -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: ctest -T memcheck | |
| codecov: | |
| needs: [build-ubuntu] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libunwind-dev | |
| sudo apt install -y libceres-dev | |
| mkdir ${{runner.workspace}}/build | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DENABLE_COVERAGE=ON -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| - name: Upload coverage | |
| working-directory: ${{runner.workspace}}/build | |
| run: bash <(curl -s https://codecov.io/bash) -R $GITHUB_WORKSPACE | |
| ceres: | |
| needs: [build-ubuntu] | |
| # runs-on: ubuntu-latest | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| # Test for both Ceres pre/post 2.2 | |
| matrix: | |
| os: [ubuntu-22.04, ubuntu-24.04] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libunwind-dev | |
| sudo apt install -y libceres-dev | |
| mkdir ${{runner.workspace}}/build | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| autodiff: | |
| needs: [build-ubuntu] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v3 | |
| - name: Setup | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libeigen3-dev | |
| mkdir ${{runner.workspace}}/build | |
| # Install autodiff | |
| - name: Checkout autodiff | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: autodiff/autodiff | |
| ref: main | |
| path: 'autodiff' | |
| - name: Setup autodiff | |
| run: mkdir ${{runner.workspace}}/build_autodiff | |
| - name: Configure CMake autodiff | |
| working-directory: ${{runner.workspace}}/build_autodiff | |
| run: cmake $GITHUB_WORKSPACE/autodiff -DAUTODIFF_BUILD_TESTS=OFF -DAUTODIFF_BUILD_PYTHON=OFF -DAUTODIFF_BUILD_EXAMPLES=OFF -DAUTODIFF_BUILD_DOCS=OFF | |
| - name: Install autodiff | |
| working-directory: ${{runner.workspace}}/build_autodiff | |
| run: sudo cmake --build . --target install | |
| # Build/test manif autodiff | |
| - name: Configure CMake | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| pybind11-pip: | |
| needs: [build-ubuntu, build-mac] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| platform: [macos-latest, ubuntu-latest] #windows-latest, | |
| python-version: ['3.7', '3.8', '3.9', '3.10'] | |
| runs-on: ${{ matrix.platform }} | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - run: git fetch --prune --unshallow | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Setup apt | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libeigen3-dev | |
| - name: Setup brew | |
| if: runner.os == 'macOS' | |
| run: brew install eigen | |
| - name: Setup | |
| run: | | |
| python -m pip install --upgrade pip | |
| python -m pip install build | |
| - name: Build | |
| run: python -m pip install -v .[testing] | |
| - name: Test | |
| run: python -m pytest | |
| pybind11-cmake: | |
| needs: [build-ubuntu, build-mac] | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-20.04, ubuntu-latest] | |
| runs-on: ${{ matrix.platform }} | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - run: git fetch --prune --unshallow | |
| # - name: Set up Python ${{ matrix.python-version }} | |
| # uses: actions/setup-python@v2 | |
| # with: | |
| # python-version: ${{ matrix.python-version }} | |
| - name: Setup apt | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy | |
| mkdir ${{runner.workspace}}/build | |
| - name: Configure | |
| working-directory: ${{runner.workspace}}/build | |
| run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release | |
| - name: Build | |
| working-directory: ${{runner.workspace}}/build | |
| run: make -j2 | |
| - name: Test | |
| working-directory: ${{runner.workspace}}/build | |
| run: make test | |
| - name: Install | |
| working-directory: ${{runner.workspace}}/build | |
| run: sudo make install | |
| - name: Test Import | |
| run: python3 -c 'import manifpy' | |
| # arm64: | |
| # needs: [build-ubuntu] | |
| # runs-on: ubuntu-latest | |
| # steps: | |
| # - name: Checkout | |
| # uses: actions/checkout@v2 | |
| # - name: Setup | |
| # run: mkdir ${{runner.workspace}}/build | |
| # - name: Configure CMake | |
| # working-directory: ${{runner.workspace}}/build | |
| # run: cmake $GITHUB_WORKSPACE -DENABLE_COVERAGE=ON -DBUILD_TESTING=ON | |
| # - name: Build | |
| # working-directory: ${{runner.workspace}}/build | |
| # run: make | |
| # - name: Test | |
| # working-directory: ${{runner.workspace}}/build | |
| # run: make test |