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.travis.yml
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.travis.yml
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language: cpp
os:
- osx
osx_image:
- xcode10
compiler:
- clang
env:
global:
- DEPS_DIR="${HOME}/deps"
- DATASET_DIR="${HOME}/dataset"
before_cache:
- brew cleanup
cache:
ccache: true
directories:
- ${HOME}/Library/Caches/Homebrew
- ${DEPS_DIR}/DBoW2
- ${DEPS_DIR}/g2o
- ${DEPS_DIR}/Pangolin
- ${DEPS_DIR}/socket.io-client-cpp
- ${DATASET_DIR}
addons:
homebrew:
update: true
packages:
- ccache
- pkg-config
- cmake
- git
- suite-sparse
- eigen
- ffmpeg
- opencv
- yaml-cpp
- glog
- gflags
- glew
- protobuf
- clang-format
before_install:
- ccache -s
- mkdir -p ${DEPS_DIR}
- |
cd ${DEPS_DIR}
if [ ! -d DBoW2 ]; then
echo "clone DBoW2"
git clone https://github.com/shinsumicco/DBoW2.git
elif [ -z "$(ls DBoW2)" ]; then
echo "reclone DBoW2"
rm -rf DBoW2
git clone https://github.com/shinsumicco/DBoW2.git
fi
cd DBoW2
mkdir -p build && cd build
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
..
make -j 3
make install
- |
cd ${DEPS_DIR}
if [ ! -d g2o ]; then
echo "clone g2o"
git clone https://github.com/RainerKuemmerle/g2o.git
elif [ -z "$(ls g2o)" ]; then
echo "reclone g2o"
rm -rf g2o
git clone https://github.com/RainerKuemmerle/g2o.git
fi
cd g2o
mkdir -p build && cd build
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DCMAKE_CXX_FLAGS=-std=c++11 \
-DBUILD_SHARED_LIBS=ON \
-DBUILD_UNITTESTS=OFF \
-DBUILD_WITH_MARCH_NATIVE=ON \
-DG2O_BUILD_EXAMPLES=OFF \
-DG2O_BUILD_APPS=OFF \
-DG2O_USE_CHOLMOD=OFF \
-DG2O_USE_CSPARSE=ON \
-DG2O_USE_OPENGL=OFF \
-DG2O_USE_OPENMP=ON \
..
make -j 3
make install
- |
cd ${DEPS_DIR}
if [ ! -d Pangolin ]; then
echo "clone Pangolin"
git clone https://github.com/stevenlovegrove/Pangolin.git
elif [ -z "$(ls Pangolin)" ]; then
echo "reclone Pangolin"
rm -rf Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
fi
cd Pangolin
mkdir -p build && cd build
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_PANGOLIN_LIBOPENEXR=OFF \
..
make -j 3
make install
- |
cd ${DEPS_DIR}
if [ ! -d socket.io-client-cpp ]; then
echo "clone socket.io-client-cpp"
git clone https://github.com/shinsumicco/socket.io-client-cpp.git
elif [ -z "$(ls socket.io-client-cpp)" ]; then
echo "reclone socket.io-client-cpp"
rm -rf socket.io-client-cpp
git clone https://github.com/shinsumicco/socket.io-client-cpp.git
fi
cd socket.io-client-cpp
git submodule init
git submodule update
mkdir -p build && cd build
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_UNIT_TESTS=OFF \
..
make -j 3
make install
install:
- |
cd ${TRAVIS_BUILD_DIR}
DIRS_TO_EXCLUDE=".git 3rd cmake docs build .idea cmake-build-debug cmake-build-release"
for DIR in ${DIRS_TO_EXCLUDE}; do
EXCLUDE_CMD="${EXCLUDE_CMD} -type d -name ${DIR} -prune -o"
done
FILES=$(find -E . ${EXCLUDE_CMD} -type f -regex ".*\.(c|h|cc|hh|cpp|hpp)" -print)
for FILE in ${FILES}; do
RET=$(diff ${FILE} <(clang-format -style=file ${FILE}) 2>&1 || true)
if [ -n "${RET}" ]; then
FILES_TO_FORMAT="${FILES_TO_FORMAT} ${FILE}"
fi
done
- |
if [ -n "${FILES_TO_FORMAT}" ]; then
echo "Please apply clang-format to following files:"
for FILE in ${FILES_TO_FORMAT}; do echo "* ${FILE}"; done
travis_terminate 1
fi
echo "There is no file which needs clang-format"
- |
cd ${TRAVIS_BUILD_DIR}
mkdir -p build && cd build
cmake \
-DBUILD_WITH_MARCH_NATIVE=ON \
-DUSE_PANGOLIN_VIEWER=ON \
-DUSE_SOCKET_PUBLISHER=OFF \
-DUSE_STACK_TRACE_LOGGER=ON \
-DBOW_FRAMEWORK=DBoW2 \
-DBUILD_TESTS=ON \
..
make -j 3
- |
cd ${TRAVIS_BUILD_DIR}
mkdir -p build && cd build
cmake \
-DBUILD_WITH_MARCH_NATIVE=ON \
-DUSE_PANGOLIN_VIEWER=OFF \
-DUSE_SOCKET_PUBLISHER=ON \
-DUSE_STACK_TRACE_LOGGER=ON \
-DBOW_FRAMEWORK=DBoW2 \
-DBUILD_TESTS=ON \
..
make -j 3
- |
cd ${TRAVIS_BUILD_DIR}
mkdir -p build && cd build
cmake \
-DBUILD_WITH_MARCH_NATIVE=ON \
-DUSE_PANGOLIN_VIEWER=OFF \
-DUSE_SOCKET_PUBLISHER=OFF \
-DUSE_STACK_TRACE_LOGGER=ON \
-DBOW_FRAMEWORK=DBoW2 \
-DBUILD_TESTS=ON \
..
make -j 3
before_script:
- mkdir -p ${DATASET_DIR}
- |
cd ${DATASET_DIR}
if [ -z "$(ls orb_vocab)" ]; then
FILE_ID="1wUPb328th8bUqhOk-i8xllt5mgRW4n84"
curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o orb_vocab.zip
unzip orb_vocab.zip
rm orb_vocab.zip
fi
- |
cd ${DATASET_DIR}
if [ -z "$(ls video_for_ci_1)" ]; then
FILE_ID="1TXjREzkht3iRz__qVx4oYRW1GXsv37ct"
curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o video_for_ci_1.zip
unzip video_for_ci_1.zip
rm video_for_ci_1.zip
fi
script:
- |
cd ${TRAVIS_BUILD_DIR}
cd build
ctest -V
- |
cd ${TRAVIS_BUILD_DIR}
cd build
./run_video_slam \
-v ${DATASET_DIR}/orb_vocab/orb_vocab.dbow2 \
-m ${DATASET_DIR}/video_for_ci_1/video.mp4 \
-c ${DATASET_DIR}/video_for_ci_1/config.yaml \
--frame-skip 3 --no-sleep --map-db map.msg --debug
- |
cd ${TRAVIS_BUILD_DIR}
cd build
./run_video_localization \
-v ${DATASET_DIR}/orb_vocab/orb_vocab.dbow2 \
-m ${DATASET_DIR}/video_for_ci_1/video.mp4 \
-c ${DATASET_DIR}/video_for_ci_1/config.yaml \
--frame-skip 3 --no-sleep --map-db map.msg --debug