v01

.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", x86_64]
+  only:
+#    - master
+  variables:
+    BUILD_TYPE: CiRelWithDebInfo
+
+monterey-arm-relwithdebinfo-compile:
+  <<: *compile_test_definition
+  tags: [macos, "12", arm64]
+  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