wercker.yml

box:
  id: shinsumicco/openvslam-env

no-response-timeout: 20

build_with_gui:
  steps:
    - script:
      name: setup ccache
      code: |
        export CCACHE_DIR=${WERCKER_CACHE_DIR}/.ccache
        ccache -M 950M
        ccache -s
    - script:
      name: cmake and make with pangolin viewer
      code: |
        mkdir build
        cd build
        cmake -DCMAKE_BUILD_TYPE=Release -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 $(($(nproc) / 2))
    - script:
      name: cmake and make with socket publisher
      code: |
        cd build
        cmake -DCMAKE_BUILD_TYPE=Release -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 $(($(nproc) / 2))
  after-steps:
    - install-packages:
      packages: ruby
    - wantedly/pretty-slack-notify:
      webhook_url: $SLACK_WEBHOOK_URL
      passed_message: "succeeded in building with GUI :smile:"
      failed_message: "failed in building with GUI :dizzy_face:"

build_without_gui:
  steps:
    - script:
      name: setup ccache
      code: |
        export CCACHE_DIR=${WERCKER_CACHE_DIR}/.ccache
        ccache -M 950M
        ccache -s
    - script:
      name: cmake and make
      code: |
        mkdir build
        cd build
        cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_MARCH_NATIVE=ON -DUSE_PANGOLIN_VIEWER=OFF -DUSE_SOCKET_PUBLISHER=OFF -DUSE_STACK_TRACE_LOGGER=ON -DBOW_FRAMEWORK=DBoW2 -DBUILD_TESTS=ON -DUSE_SSE_ORB=ON ..
        make -j $(($(nproc) / 2))
    - script:
      name: unit test
      code: |
        cd build
        ctest -V
    - script:
      name: SLAM test (monocular) with EuRoC MAV dataset
      code: |
        cd build
        ./run_euroc_slam -v /datasets/orb_vocab/orb_vocab.dbow2 -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_mono.yaml --frame-skip 2 --no-sleep --debug --eval-log --map-db euroc_mono.msg
    - script:
      name: SLAM test (stereo) with EuRoC MAV dataset
      code: |
        cd build
        ./run_euroc_slam -v /datasets/orb_vocab/orb_vocab.dbow2 -d /datasets/EuRoC/MH_04 -c ../example/euroc/EuRoC_stereo.yaml --frame-skip 2 --no-sleep --debug --eval-log --map-db euroc_stereo.msg
  after-steps:
    - install-packages:
      packages: ruby
    - wantedly/pretty-slack-notify:
      webhook_url: $SLACK_WEBHOOK_URL
      passed_message: "succeeded in building and testing without GUI :smile:"
      failed_message: "failed in building and testing without GUI :dizzy_face:"

build_tutorial:
  steps:
    - script:
      name: setup ccache
      code: |
        export CCACHE_DIR=${WERCKER_CACHE_DIR}/.ccache
        ccache -M 950M
        ccache -s
    - script:
      name: cmake and make
      code: |
        mkdir build
        cd build
        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_MARCH_NATIVE=ON -DUSE_PANGOLIN_VIEWER=OFF -DUSE_SOCKET_PUBLISHER=OFF -DUSE_STACK_TRACE_LOGGER=ON -DBOW_FRAMEWORK=DBoW2 -DBUILD_TESTS=ON -DUSE_OPENMP=OFF ..
        make -j $(($(nproc) / 2))
    - script:
      name: download a dataset
      code: |
        cd build
        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
    - script:
      name: mapping test with the tutorial
      code: |
        cd build
        ./run_video_slam -v /datasets/orb_vocab/orb_vocab.dbow2 -m ./video_for_ci_1/video.mp4 -c ./video_for_ci_1/config.yaml --frame-skip 3 --no-sleep --debug --eval-log --map-db map.msg
    - script:
      name: localization test with the tutorial
      code: |
        cd build
        ./run_video_localization -v /datasets/orb_vocab/orb_vocab.dbow2 -m ./video_for_ci_1/video.mp4 -c ./video_for_ci_1/config.yaml --frame-skip 3 --no-sleep --debug --eval-log --map-db map.msg
  after-steps:
    - install-packages:
      packages: ruby
    - wantedly/pretty-slack-notify:
      webhook_url: $SLACK_WEBHOOK_URL
      passed_message: "succeeded in building the tutorial :smile:"
      failed_message: "failed in building the tutorial :dizzy_face:"