Rainer/ci (#527)

* Activate Github actions
RainerKuemmerle · Jun 27, 2021 · e28160d · e28160d
1 parent a49abaf
commit e28160d
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,80 @@
+name: CI
+
+on: 
+  push:
+    branches:
+      - master
+  pull_request:
+  release:
+
+jobs:
+  build:
+    name: ${{ matrix.config.name }}
+    runs-on: ${{ matrix.config.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        config: 
+        - {
+            name: "Ubuntu Latest GCC",
+            os: ubuntu-latest,
+            build_type: "Debug",
+            do_coverage: "ON",
+          }
+        - {
+            name: "macOS Latest Clang",
+            os: macos-latest,
+            build_type: "Debug",
+            do_coverage: "OFF",
+          }
+        #- {
+            #name: "Windows Latest MSVC",
+            #os: windows-latest,
+            #build_type: "Debug",
+            #environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
+            #generators: "Visual Studio 16 2019"
+            #do_coverage: "OFF",
+          #}
+
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+            fetch-depth: 25
+
+      - name: Print env
+        run: |
+          echo github.ref: ${{github.ref}}
+          echo github.event.action: ${{github.event.action}}
+          echo github.event_name: ${{github.event_name}}
+          echo runner.os: ${{runner.os}}
+
+      - name: Install dependencies on Ubuntu
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install libeigen3-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5 libsuitesparse-dev lcov
+
+      - name: Install dependencies on macOS
+        if: runner.os == 'macOS'
+        run: brew install cmake eigen
+
+      #- name: Install dependencies on Windows
+        #if: runner.os == 'Windows'
+        #run: brew install cmake eigen
+
+      - name: Configure CMake
+        run: |
+          cmake --version
+          cmake -B ${{github.workspace}}/build -DBUILD_UNITTESTS=ON -DBUILD_CODE_COVERAGE=${{matrix.config.do_coverage}} -DCMAKE_BUILD_TYPE=${{matrix.config.build_type}}
+
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config ${{matrix.config.build_type}} -j 2
+
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        run: ctest -C ${{matrix.config.build_type}} --extra-verbose --output-on-failure
+
+      - name: Coverage
+        if: matrix.config.do_coverage == 'ON'
+        run: bash ${{github.workspace}}/build/codecov.sh
diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # g2o - General Graph Optimization
 
-Linux: [![Build Status](https://travis-ci.org/RainerKuemmerle/g2o.svg?branch=master)](https://travis-ci.org/RainerKuemmerle/g2o)
+Linux: [![CI](https://github.com/RainerKuemmerle/g2o/actions/workflows/ci.yml/badge.svg?event=push)](https://github.com/RainerKuemmerle/g2o/actions/workflows/ci.yml)
 Windows: [![Build status](https://ci.appveyor.com/api/projects/status/9w0cpb9krc6t4nt7/branch/master?svg=true)](https://ci.appveyor.com/project/RainerKuemmerle/g2o/branch/master)
 [![Codacy Badge](https://api.codacy.com/project/badge/Grade/e87df92948b747d58591372dd425fc59)](https://app.codacy.com/manual/rainer.kuemmerle/g2o?utm_source=github.com&utm_medium=referral&utm_content=RainerKuemmerle/g2o&utm_campaign=Badge_Grade_Dashboard)
 

diff --git a/g2o/types/sba/types_six_dof_expmap.cpp b/g2o/types/sba/types_six_dof_expmap.cpp
@@ -30,15 +30,17 @@
 
 namespace g2o {
 
+// clang-format off
 G2O_REGISTER_TYPE_GROUP(expmap);
-G2O_REGISTER_TYPE(VERTEX_SE3 : EXPMAP, VertexSE3Expmap);
-G2O_REGISTER_TYPE(EDGE_SE3 : EXPMAP, EdgeSE3Expmap);
-G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UV : EXPMAP, EdgeProjectXYZ2UV);
-G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UVU : EXPMAP, EdgeProjectXYZ2UVU);
-G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZ : EXPMAP, EdgeSE3ProjectXYZ);
-G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZONLYPOSE : EXPMAP, EdgeSE3ProjectXYZOnlyPose);
-G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZ : EXPMAP, EdgeStereoSE3ProjectXYZ);
-G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZONLYPOSE : EXPMAP, EdgeStereoSE3ProjectXYZOnlyPose);
+G2O_REGISTER_TYPE(VERTEX_SE3:EXPMAP, VertexSE3Expmap);
+G2O_REGISTER_TYPE(EDGE_SE3:EXPMAP, EdgeSE3Expmap);
+G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UV:EXPMAP, EdgeProjectXYZ2UV);
+G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UVU:EXPMAP, EdgeProjectXYZ2UVU);
+G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZ:EXPMAP, EdgeSE3ProjectXYZ);
+G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZONLYPOSE:EXPMAP, EdgeSE3ProjectXYZOnlyPose);
+G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZ:EXPMAP, EdgeStereoSE3ProjectXYZ);
+G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZONLYPOSE:EXPMAP, EdgeStereoSE3ProjectXYZOnlyPose);
 G2O_REGISTER_TYPE(PARAMS_CAMERAPARAMETERS, CameraParameters);
+// clang-format on
 
 }  // namespace g2o