ubuntu.yml

name: ubuntu CI

on:
  push:
    branches: [ master ]
  pull_request:
    branches: [ master ]

jobs:
  build:
    runs-on: ubuntu-18.04
    steps:
    # checkout
    - uses: actions/checkout@v2
    # cached CUDA
    - name: setup CUDA directories
      run: |
        sudo mkdir /usr/local/cuda-11.0
        sudo chown -R runner:runner /usr/local/cuda-11.0
    - name: cache CUDA toolkit
      id: cache-cuda
      uses: actions/cache@v2
      with:
        path: /usr/local/cuda-11.0
        key: cuda-toolkit-11-0
    # download CUDA toolchain
    - name: download cuda-toolkit-11-0
      if: steps.cache-cuda.outputs.cache-hit != 'true'
      run: |
        wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
        sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
        sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
        sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
        sudo apt-get update
        sudo apt-get -y install cuda-toolkit-11-0
    - name: apt dependencies
      run: |
        # OpenCV deps
        sudo apt install -y libgtk-3-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
        # pangolin deps
        sudo apt install -y libglew-dev libglfw3-dev
        # g2o deps
        sudo apt install -y libatlas-base-dev libsuitesparse-dev
        # librealsense
        sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
        sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
        sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev
        # other
        sudo apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev clang-format-10
    - name: add system path
      run: |
        echo "/usr/local/cuda-11.0/bin" >> $GITHUB_PATH
        echo "$HOME/.local/bin" >> $GITHUB_PATH
    - name: local dependencies cache
      id: cache-local
      uses: actions/cache@v2
      with:
        path: ~/.local
        key: local-deps-build-v1.0
    - name: local dependencies build
      if: steps.cache-local.outputs.cache-hit != 'true'
      run: |
        # Eigen3
        git clone https://gitlab.com/libeigen/eigen.git ~/eigen && cd ~/eigen
        git checkout 3.3.7
        mkdir build && cd build
        cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/.local ..
        make install
        # OpenCV
        git clone https://github.com/opencv/opencv.git ~/opencv && cd ~/opencv
        git checkout 4.5.1
        mkdir build && cd build
        cmake \
          -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=$HOME/.local \
          -DENABLE_CXX11=ON \
          -DBUILD_DOCS=OFF \
          -DBUILD_EXAMPLES=OFF \
          -DBUILD_JASPER=OFF \
          -DBUILD_OPENEXR=OFF \
          -DBUILD_PERF_TESTS=OFF \
          -DBUILD_TESTS=OFF \
          -DWITH_EIGEN=ON \
          -DWITH_FFMPEG=ON \
          -DWITH_OPENMP=ON \
          ..
        make -j3 && make install
        # Pangolin viewer
        git clone https://github.com/stevenlovegrove/Pangolin.git ~/Pangolin && cd ~/Pangolin
        mkdir build && cd build
        cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/.local ..
        make -j3 && make install
        # DBoW2
        git clone https://github.com/shinsumicco/DBoW2.git ~/DBoW2 && cd ~/DBoW2
        mkdir build && cd build
        cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/.local ..
        make -j3 && make install
        # g2o
        git clone https://github.com/RainerKuemmerle/g2o.git ~/g2o && cd ~/g2o
        mkdir build && cd build
        cmake \
          -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=$HOME/.local \
          -DCMAKE_CXX_FLAGS=-std=c++14 \
          -DBUILD_SHARED_LIBS=ON \
          -DBUILD_UNITTESTS=OFF \
          -DBUILD_WITH_MARCH_NATIVE=ON \
          -DG2O_USE_CHOLMOD=OFF \
          -DG2O_USE_CSPARSE=ON \
          -DG2O_USE_OPENGL=OFF \
          -DG2O_USE_OPENMP=ON \
          ..
        make -j3 && make install
        # OpenVSLAM
        git clone https://github.com/alvinsunyixiao/openvslam.git ~/openvslam && cd ~/openvslam
        git checkout system_inherit
        mkdir build && cd build
        EIGEN3_DIR=$HOME/.local/share/eigen3/cmake cmake \
          -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=$HOME/.local \
          -DINSTALL_PANGOLIN_VIEWER=ON \
          -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 -j3 && make install
    - name: cmake
      run: |
        mkdir build && cd build
        cmake -DCMAKE_BUILD_TYPE=Release ..
    - name: format check
      run: make check-format
      working-directory: build
    - name: build
      run: make -j3
      working-directory: build