Merge remote-tracking branch 'upstream/master'

Change-Id: Ia9752e1e9c021ef6becc518c4361e3ec00b25458
insidemaps-org · May 19, 2022 · 170573f · 170573f
2 parents 3288ecc + 9b34ece
commit 170573f
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,7 @@
+BasedOnStyle: Google
+Standard: Cpp11
+BinPackArguments: false
+BinPackParameters: false
+PointerAlignment: Left
+DerivePointerAlignment: false
+CommentPragmas: NOLINT.*
diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
@@ -0,0 +1,166 @@
+name: Android
+
+on: [push, pull_request]
+
+jobs:
+  build-android:
+    name: NDK-${{matrix.abi}}-${{matrix.build_type}}-${{matrix.lib}}
+    runs-on: ${{matrix.os}}
+    defaults:
+      run:
+        shell: bash -e -o pipefail {0}
+    env:
+      CCACHE_DIR: ${{github.workspace}}/ccache
+      CMAKE_GENERATOR: Ninja
+      DEBIAN_FRONTEND: noninteractive
+    strategy:
+      fail-fast: true
+      matrix:
+        os:
+          - ubuntu-20.04
+        abi:
+          - arm64-v8a
+          - armeabi-v7a
+          - x86
+          - x86_64
+        build_type:
+          - Release
+        lib:
+          - shared
+          - static
+        android_api_level:
+          - '28'
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup Ninja
+        uses: ashutoshvarma/setup-ninja@master
+        with:
+          version: 1.10.0
+
+      - name: Setup Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            ccache \
+            ninja-build
+
+      - name: Cache Eigen
+        id: cache-eigen
+        uses: actions/cache@v2
+        with:
+          path: eigen/
+          key: NDK-${{matrix.os}}-eigen-3.4.0-${{matrix.abi}}
+
+      - name: Download Eigen
+        if: steps.cache-eigen.outputs.cache-hit != 'true'
+        run: |
+          wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip
+          unzip eigen-3.4.0.zip
+
+      - name: Setup Eigen
+        if: steps.cache-eigen.outputs.cache-hit != 'true'
+        run: |
+          cmake -S eigen-3.4.0 -B build-eigen \
+                -DBUILD_TESTING=OFF \
+                -DCMAKE_ANDROID_API=${{matrix.android_api_level}} \
+                -DCMAKE_ANDROID_ARCH_ABI=${{matrix.abi}} \
+                -DCMAKE_ANDROID_STL_TYPE=c++_shared \
+                -DCMAKE_Fortran_COMPILER= \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/eigen \
+                -DCMAKE_SYSTEM_NAME=Android \
+                -DEIGEN_BUILD_DOC=OFF
+          cmake --build build-eigen \
+                --config ${{matrix.build_type}} \
+                --target install
+
+      - name: Cache gflags
+        id: cache-gflags
+        uses: actions/cache@v2
+        with:
+          path: gflags/
+          key: NDK-${{matrix.os}}-gflags-2.2.2-${{matrix.abi}}-${{matrix.build_type}}-${{matrix.lib}}
+
+      - name: Download gflags
+        if: steps.cache-gflags.outputs.cache-hit != 'true'
+        run: |
+          wget https://github.com/gflags/gflags/archive/refs/tags/v2.2.2.zip
+          unzip v2.2.2.zip
+
+      - name: Setup gflags
+        if: steps.cache-gflags.outputs.cache-hit != 'true'
+        run: |
+          cmake -S gflags-2.2.2 -B build-gflags \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DBUILD_TESTING=OFF \
+                -DCMAKE_ANDROID_API=${{matrix.android_api_level}} \
+                -DCMAKE_ANDROID_ARCH_ABI=${{matrix.abi}} \
+                -DCMAKE_ANDROID_STL_TYPE=c++_shared \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/gflags \
+                -DCMAKE_SYSTEM_NAME=Android
+          cmake --build build-gflags \
+                --config ${{matrix.build_type}} \
+                --target install
+
+      - name: Cache glog
+        id: cache-glog
+        uses: actions/cache@v2
+        with:
+          path: glog/
+          key: NDK-${{matrix.os}}-glog-0.5-${{matrix.abi}}-${{matrix.build_type}}-${{matrix.lib}}
+
+      - name: Download glog
+        if: steps.cache-glog.outputs.cache-hit != 'true'
+        run: |
+          wget https://github.com/google/glog/archive/refs/tags/v0.5.0.zip
+          unzip v0.5.0.zip
+
+      - name: Setup glog
+        if: steps.cache-glog.outputs.cache-hit != 'true'
+        run: |
+          cmake -S glog-0.5.0 -B build-glog \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DBUILD_TESTING=OFF \
+                -DCMAKE_ANDROID_API=${{matrix.android_api_level}} \
+                -DCMAKE_ANDROID_ARCH_ABI=${{matrix.abi}} \
+                -DCMAKE_ANDROID_STL_TYPE=c++_shared \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_FIND_ROOT_PATH=${{github.workspace}}/gflags \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/glog \
+                -DCMAKE_SYSTEM_NAME=Android
+          cmake --build build-glog \
+                --config ${{matrix.build_type}} \
+                --target install
+
+      - name: Cache Build
+        id: cache-build
+        uses: actions/cache@v2
+        with:
+          path: ${{env.CCACHE_DIR}}
+          key: NDK-${{matrix.os}}-ccache-${{matrix.abi}}-${{matrix.build_type}}-${{matrix.lib}}-${{github.run_id}}
+          restore-keys: NDK-${{matrix.os}}-ccache-${{matrix.abi}}-${{matrix.build_type}}-${{matrix.lib}}-
+
+      - name: Setup Environment
+        if: matrix.build_type == 'Release'
+        run: |
+          echo 'CXXFLAGS=-flto' >> $GITHUB_ENV
+
+      - name: Configure
+        run: |
+          cmake -S . -B build_${{matrix.abi}} \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DCMAKE_ANDROID_API=${{matrix.android_api_level}} \
+                -DCMAKE_ANDROID_ARCH_ABI=${{matrix.abi}} \
+                -DCMAKE_ANDROID_STL_TYPE=c++_shared \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_FIND_ROOT_PATH="${{github.workspace}}/eigen;${{github.workspace}}/gflags;${{github.workspace}}/glog" \
+                -DCMAKE_SYSTEM_NAME=Android
+
+      - name: Build
+        run: |
+          cmake --build build_${{matrix.abi}} \
+                --config ${{matrix.build_type}}
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -0,0 +1,91 @@
+name: Linux
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{matrix.os}}-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.threading_model}}
+    runs-on: ubuntu-latest
+    container: ${{matrix.os}}
+    defaults:
+      run:
+        shell: bash -e -o pipefail {0}
+    env:
+      CCACHE_DIR: ${{github.workspace}}/ccache
+      CMAKE_GENERATOR: Ninja
+      DEBIAN_FRONTEND: noninteractive
+    strategy:
+      fail-fast: true
+      matrix:
+        os:
+          - ubuntu:20.04
+          - ubuntu:22.04
+        build_type:
+          - Release
+        lib:
+          - shared
+          - static
+        threading_model:
+          - CXX_THREADS
+          - NO_THREADS
+          - OPENMP
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup Dependencies
+        run: |
+          apt-get update
+          apt-get install -y \
+            build-essential \
+            ccache \
+            cmake \
+            libbenchmark-dev \
+            libblas-dev \
+            libeigen3-dev \
+            libgflags-dev \
+            libgoogle-glog-dev \
+            liblapack-dev \
+            libsuitesparse-dev \
+            ninja-build
+
+      - name: Cache Build
+        id: cache-build
+        uses: actions/cache@v2
+        with:
+          path: ${{env.CCACHE_DIR}}
+          key: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.threading_model}}-${{github.run_id}}
+          restore-keys: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.threading_model}}-
+
+      - name: Setup Environment
+        if: matrix.build_type == 'Release'
+        run: |
+          echo 'CXXFLAGS=-flto' >> $GITHUB_ENV
+
+      - name: Configure
+        run: |
+          cmake -S . -B build_${{matrix.build_type}} \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DCERES_THREADING_MODEL=${{matrix.threading_model}} \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+
+      - name: Build
+        run: |
+          cmake --build build_${{matrix.build_type}} \
+                --config ${{matrix.build_type}}
+
+      - name: Test
+        run: |
+          ctest --test-dir build_${{matrix.build_type}} \
+                --config ${{matrix.build_type}} \
+                --output-on-failure \
+                -j$(nproc)
+
+      - name: Install
+        run: |
+          cmake --build build_${{matrix.build_type}}/ \
+                --config ${{matrix.build_type}} \
+                --target install
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -0,0 +1,107 @@
+name: macOS
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{matrix.os}}-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.target}}
+    runs-on: ${{matrix.os}}
+    defaults:
+      run:
+        shell: bash -e -o pipefail {0}
+    env:
+      CCACHE_DIR: ${{github.workspace}}/ccache
+      CMAKE_GENERATOR: Ninja
+    strategy:
+      fail-fast: true
+      matrix:
+        os:
+          - macos-11
+        build_type:
+          - Release
+        lib:
+          - shared
+          - static
+        target:
+          - host
+          - ios
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup Dependencies (iOS)
+        if: matrix.target == 'ios'
+        run: |
+          brew update
+          brew install \
+            ccache \
+            eigen \
+            ninja
+
+      - name: Setup Dependencies (Host)
+        if: matrix.target == 'host'
+        run: |
+          brew update
+          brew install \
+            ccache \
+            eigen \
+            gflags \
+            glog \
+            google-benchmark \
+            ninja \
+            suite-sparse
+
+      - name: Cache Build
+        id: cache-build
+        uses: actions/cache@v2
+        with:
+          path: ${{env.CCACHE_DIR}}
+          key: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.target}}-${{github.run_id}}
+          restore-keys: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.target}}-
+
+      - name: Setup Environment
+        if: matrix.build_type == 'Release'
+        run: |
+          echo 'CXXFLAGS=-flto' >> $GITHUB_ENV
+
+      - name: Configure (iOS)
+        if: matrix.target == 'ios'
+        run: |
+          cmake -S . -B build_${{matrix.build_type}} \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_TOOLCHAIN_FILE=${{github.workspace}}/cmake/iOS.cmake \
+                -DEigen3_DIR=/usr/local/share/eigen3/cmake \
+                -DIOS_PLATFORM=OS \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+
+      - name: Configure (Host)
+        if: matrix.target == 'host'
+        run: |
+          cmake -S . -B build_${{matrix.build_type}} \
+                -DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+                -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                -DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
+                -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+
+      - name: Build
+        run: |
+          cmake --build build_${{matrix.build_type}} \
+                --config ${{matrix.build_type}}
+
+      - name: Test
+        if: matrix.target == 'host'
+        run: |
+          ctest --test-dir build_${{matrix.build_type}} \
+                --config ${{matrix.build_type}} \
+                --output-on-failure \
+                -j$(sysctl -n hw.ncpu)
+
+      - name: Install
+        run: |
+          cmake --build build_${{matrix.build_type}}/ \
+                --config ${{matrix.build_type}} \
+                --target install