Merge branch 'develop' into fix/foot-imu

.github/scripts/python.sh

@@ -0,0 +1,87 @@
+#!/bin/bash
+
+##########################################################
+# Build and test the GTSAM Python wrapper.
+##########################################################
+
+set -x -e
+
+# install TBB with _debug.so files
+function install_tbb()
+{
+  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
+  TBB_SAVEPATH="/tmp/tbb.tgz"
+
+  if [ "$(uname)" == "Linux" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR="intel64/gcc4.4"
+    SUDO="sudo"
+
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
+    TBB_LIB_DIR=""
+    SUDO=""
+
+  fi
+
+  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
+  tar -C /tmp -xf $TBB_SAVEPATH
+
+  TBBROOT=/tmp/$TBB_DIR
+  # Copy the needed files to the correct places.
+  # This works correctly for CI builds, instead of setting path variables.
+  # This is what Homebrew does to install TBB on Macs
+  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
+  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
+
+}
+
+if [ -z ${PYTHON_VERSION+x} ]; then
+    echo "Please provide the Python version to build against!"
+    exit 127
+fi
+
+PYTHON="python${PYTHON_VERSION}"
+
+if [[ $(uname) == "Darwin" ]]; then
+    brew install wget
+else
+    # Install a system package required by our library
+    sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
+fi
+
+PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
+
+[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+
+
+BUILD_PYBIND="ON"
+TYPEDEF_POINTS_TO_VECTORS="ON"
+
+sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+
+mkdir $GITHUB_WORKSPACE/build
+cd $GITHUB_WORKSPACE/build
+
+cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
+    -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+    -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
+    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
+    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+make -j$(nproc) install
+
+
+cd $GITHUB_WORKSPACE/build/python
+$PYTHON setup.py install --user --prefix=
+cd $GITHUB_WORKSPACE/python/gtsam/tests
+$PYTHON -m unittest discover

.github/scripts/unix.sh

@@ -0,0 +1,122 @@
+#!/bin/bash
+
+##########################################################
+# Build and test GTSAM for *nix based systems.
+# Specifically Linux and macOS.
+##########################################################
+
+# install TBB with _debug.so files
+function install_tbb()
+{
+  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
+  TBB_SAVEPATH="/tmp/tbb.tgz"
+
+  if [ "$(uname)" == "Linux" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR="intel64/gcc4.4"
+    SUDO="sudo"
+
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
+    TBB_LIB_DIR=""
+    SUDO=""
+
+  fi
+
+  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
+  tar -C /tmp -xf $TBB_SAVEPATH
+
+  TBBROOT=/tmp/$TBB_DIR
+  # Copy the needed files to the correct places.
+  # This works correctly for CI builds, instead of setting path variables.
+  # This is what Homebrew does to install TBB on Macs
+  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
+  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
+
+}
+
+# common tasks before either build or test
+function configure()
+{
+  set -e   # Make sure any error makes the script to return an error code
+  set -x   # echo
+
+  SOURCE_DIR=$GITHUB_WORKSPACE
+  BUILD_DIR=$GITHUB_WORKSPACE/build
+
+  #env
+  rm -fr $BUILD_DIR || true
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+
+  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+
+  if [ ! -z "$GCC_VERSION" ]; then
+    export CC=gcc-$GCC_VERSION
+    export CXX=g++-$GCC_VERSION
+  fi
+
+  # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
+  cmake $SOURCE_DIR \
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
+      -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
+      -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
+      -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
+      -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
+      -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
+      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+      -DBOOST_ROOT=$BOOST_ROOT \
+      -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBoost_ARCHITECTURE=-x64
+}
+
+
+# common tasks after either build or test
+function finish ()
+{
+  # Print ccache stats
+  [ -x "$(command -v ccache)" ] && ccache -s
+
+  cd $SOURCE_DIR
+}
+
+# compile the code with the intent of populating the cache
+function build ()
+{
+  export GTSAM_BUILD_EXAMPLES_ALWAYS=ON
+  export GTSAM_BUILD_TESTS=OFF
+
+  configure
+
+  make -j2
+
+  finish
+}
+
+# run the tests
+function test ()
+{
+  export GTSAM_BUILD_EXAMPLES_ALWAYS=OFF
+  export GTSAM_BUILD_TESTS=ON
+
+  configure
+
+  # Actual build:
+  make -j2 check
+
+  finish
+}
+
+# select between build or test
+case $1 in
+  -b)
+    build
+    ;;
+  -t)
+    test
+    ;;
+esac

.github/workflows/build-linux.yml

@@ -0,0 +1,91 @@
+name: Linux CI
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
+            # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
+            # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
+            # This key is not in the keystore by default for Ubuntu so we need to add it.
+            LLVM_KEY=15CF4D18AF4F7421
+            gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY
+            gpg -a --export $LLVM_KEY | sudo apt-key add -
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
+          
+          echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
+          echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
+          fi
+      - name: Check Boost version
+        if: runner.os == 'Linux'
+        run: |
+          echo "BOOST_ROOT = $BOOST_ROOT"
+      - name: Build and Test (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/unix.sh -t
+      - name: Upload build directory
+        uses: actions/upload-artifact@v2
+        if: matrix.build_type  == 'Release'
+        with:
+          name: gtsam-${{ matrix.name }}-${{ matrix.build_type }}
+          path: ${{ github.workspace }}/build/

.github/workflows/build-macos.yml

@@ -0,0 +1,59 @@
+name: macOS CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew tap ProfFan/robotics
+          brew install cmake ninja
+          brew install ProfFan/robotics/boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "CC=clang" >> $GITHUB_ENV
+            echo "CXX=clang++" >> $GITHUB_ENV
+          fi
+      - name: Build and Test (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .github/scripts/unix.sh -t
+      - name: Upload build directory
+        uses: actions/upload-artifact@v2
+        if: matrix.build_type == 'Release'
+        with:
+          name: gtsam-${{ matrix.name }}-${{ matrix.build_type }}
+          path: ${{ github.workspace }}/build/