maintenance

.github/workflows/build-and-test-sophus-pybind.yml

@@ -8,11 +8,11 @@ on:
 
 jobs:
   build:
-    name: Build sophus_pybind on ${{ matrix.os }} / ${{ matrix.cmakeOptions }}
+    name: Build sophus_pybind on ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, macos-10.15]
+        os: [ubuntu-20.04]
     steps:
       - name : Checkout
         uses: actions/checkout@v2
@@ -22,44 +22,26 @@ jobs:
       - name: Install dependencies
         shell: bash
         run: |
-          if [ "$RUNNER_OS" == "Linux" ]; then
-              # Update & upgrade package lists
-              sudo apt-get update -y
-              sudo apt-get upgrade
-              # Deal with Github CI limitation
-              # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
-              sudo apt install -y libunwind-dev
+            # Update & upgrade package lists
+            sudo apt-get update -y
+            sudo apt-get upgrade
+            # Deal with Github CI limitation
+            # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
+            sudo apt install -y libunwind-dev
 
-              # Generic dependencies
-              sudo apt-get install cmake
+            # Generic dependencies
+            sudo apt-get install cmake
 
-              # Clean APT cache
-              sudo apt-get clean
-
-          elif [ "$RUNNER_OS" == "macOS" ]; then
-              # Install system deps with Homebrew
-              brew install cmake
-              # VRS dependencies
-              brew install fmt lz4 zstd xxhash
-          else
-              echo "$RUNNER_OS not supported"
-              exit 1
-          fi
+            # Clean APT cache
+            sudo apt-get clean
 
       - name: Install sophus_pybind
         shell: bash
         run: |
-          # Installing Python and dependencies
-          if [ "$RUNNER_OS" == "Linux" ]; then
-            sudo apt-get install libpython3-dev python3-pip
-            sudo pip3 install numpy pytest
-          elif [ "$RUNNER_OS" == "macOS" ]; then
-            pip3 install numpy pytest
-          else
-            echo "$RUNNER_OS not supported"
-            exit 1
-          fi
-
+       
+          sudo apt-get install libpython3-dev python3-pip
+          sudo pip3 install numpy pytest
+
           # Build and install Python bindings
           pip3 install .
 

.github/workflows/main.yml

@@ -12,51 +12,39 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
-        build_type: [Debug, Release]
-        row_major: [ON, OFF]
-        basic_logging: [ON, OFF]
-        exclude:
-          - build_type: Release
+        include:
+          - os: ubuntu-22.04
+            build_type: Release
             row_major: ON
-          - build_type: Release
-            basic_logging: ON
-          - build_type: Debug
-            row_major: ON
-            basic_logging: ON
+          - os: ubuntu-22.04
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: ubuntu-24.04
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: macos-13
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: macos-14
+            build_type: RelWithDebInfo
+            row_major: OFF
       fail-fast: false
     env:
-      BUILD_TYPE: ${{ matrix.build_type }}
       ROW_MAJOR_DEFAULT: ${{ matrix.row_major }}
-      USE_BASIC_LOGGING: ${{ matrix.basic_logging }}
-
 
     steps:
       - uses: actions/checkout@v2
 
-      - name: Format
-        uses: DoozyX/[email protected]
-        with:
-          source: '.'
-          extensions: 'hpp,cpp'
-          exclude: './sympy ./doxyrest_b'
-          clangFormatVersion: 9
-        if: matrix.os == 'ubuntu-20.04'
-
       - name: ccache
         uses: hendrikmuhs/ccache-action@v1
 
-      - name: Install dependencies (Linux)
-        run: ./scripts/install_linux_deps.sh
-        if: matrix.os == 'ubuntu-20.04'
-
-      - name: Install fmt dependency (Linux)
-        run: ./scripts/install_linux_fmt_deps.sh
-        if: matrix.os == 'ubuntu-20.04' && matrix.basic_logging == 'OFF'
+      - name: Install dependencies (Linux incl. Ceres)
+        run: ./scripts/install_ubuntu_deps_incl_ceres.sh
+        if: matrix.os == 'ubuntu-22.04' || matrix.os == 'ubuntu-24.04'
 
-      - name: Install dependencies (Mac OS)
-        run: ./scripts/install_osx_deps.sh
-        if: matrix.os == 'macos-10.15'
+      - name: Install dependencies (Mac OS incl. Ceres)
+        run: ./scripts/install_osx_deps_incl_ceres.sh
+        if: matrix.os == 'macos-14' || matrix.os == 'macos-13'
 
       - name: Run tests
         run: ./scripts/run_cpp_tests.sh

CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.4)
-project(Sophus VERSION 1.22.10)
+cmake_minimum_required(VERSION 3.16)
+project(Sophus VERSION 1.24.06)
 
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)
@@ -15,16 +15,15 @@ if (NOT DEFINED SOPHUS_MASTER_PROJECT)
 endif ()
 
 option(SOPHUS_INSTALL "Generate the install target." ${SOPHUS_MASTER_PROJECT})
-option(SOPHUS_USE_BASIC_LOGGING "Use basic logging (in ensure and test macros)" OFF)
 
 if(SOPHUS_MASTER_PROJECT)
   # Release by default
   # Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
   if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
+    set(CMAKE_BUILD_TYPE RelWithDebInfo)
   endif()
 
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 
   # Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
   IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
@@ -34,22 +33,13 @@ if(SOPHUS_MASTER_PROJECT)
   ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
     SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
     SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
-    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
-    SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
-    SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
-    SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
-  ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
-    ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -Wno-array-bounds")
   ENDIF()
 
   # Add local path for finding packages, set the local version first
   list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")
 endif()
 
-if(SOPHUS_USE_BASIC_LOGGING)
-  set (CMAKE_DISABLE_FIND_PACKAGE_fmt ON)
-endif()
-
 # Find public dependencies if targets are not yet defined. (Targets might be for example
 # defined by a parent project including Sophus via `add_subdirectory`.)
 
@@ -69,7 +59,6 @@ add_library (Sophus::Sophus ALIAS sophus)
 set(SOPHUS_HEADER_FILES
   sophus/average.hpp
   sophus/cartesian.hpp
-  sophus/ceres_local_parameterization.hpp
   sophus/ceres_manifold.hpp
   sophus/ceres_typetraits.hpp
   sophus/common.hpp
@@ -89,7 +78,6 @@ set(SOPHUS_HEADER_FILES
   sophus/so3.hpp
   sophus/spline.hpp
   sophus/types.hpp
-  sophus/velocities.hpp
 )
 
 set(SOPHUS_OTHER_FILES
@@ -110,16 +98,10 @@ else()
   target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
 endif()
 
-if(SOPHUS_USE_BASIC_LOGGING OR NOT TARGET fmt::fmt)
-  # NOTE fmt_FOUND does not seem to be defined even though the package config
-  # was found.
-  target_compile_definitions(sophus INTERFACE SOPHUS_USE_BASIC_LOGGING=1)
-  message(STATUS "Turning basic logging ON")
-else()
-  target_link_libraries(sophus INTERFACE fmt::fmt)
-  set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
-  message(STATUS "Turning basic logging OFF")
-endif()
+
+target_link_libraries(sophus INTERFACE fmt::fmt)
+set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
+message(STATUS "Turning basic logging OFF")
 
 # Associate target with include directory
 target_include_directories(sophus INTERFACE