.travis.yml

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_USE_CHOLMOD=ON \
        -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 \
        ..
    make -j 3
    make install
  - |
    cd ${DEPS_DIR}
    if [ ! -d socket.io-client-cpp ]; then
        echo "clone socket.io-client-cpp"
        git clone https://github.com/shinsumicco/socket.io-client-cpp
    elif [ -z "$(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
    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="1JPB4SFrv8Ca4qquf2CrnFtP2BPWlQAYe"
        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