Added coverage report

coverage-report.sh

@@ -0,0 +1,114 @@
+#!/usr/bin/env bash
+# Generate an HTML coverage report at coverage-html/index.html
+# Run from anywhere; defaults: build dir = build-coverage, output = coverage-html/
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+BUILD_DIR="${COVERAGE_BUILD_DIR:-$ROOT/build-coverage}"
+HTML_DIR="${COVERAGE_HTML_DIR:-$ROOT/coverage-html}"
+INFO_FILE="${COVERAGE_INFO_FILE:-$ROOT/lcov.info}"
+JOBS="${JOBS:-$(nproc)}"
+
+need_cmd() {
+	command -v "$1" >/dev/null 2>&1 || {
+		echo "Error: required command not found: $1" >&2
+		exit 1
+	}
+}
+
+need_cmd cmake
+need_cmd lcov
+need_cmd genhtml
+need_cmd gcc
+
+# lcov defaults to gcov-11 on Ubuntu; use gcov matching the active compiler.
+detect_gcov_tool() {
+	local ver
+	ver="$(gcc -dumpversion 2>/dev/null | cut -d. -f1)"
+	if [[ -n "$ver" ]] && command -v "gcov-${ver}" >/dev/null 2>&1; then
+		echo "gcov-${ver}"
+	else
+		echo "gcov"
+	fi
+}
+GCOV_TOOL="$(detect_gcov_tool)"
+LCOV_IGNORE=(--ignore-errors gcov,source,graph)
+
+configure_coverage_build() {
+	local -a gtest_args=()
+	if [[ -d "$ROOT/build/_deps/googletest-src" ]]; then
+		gtest_args+=(
+			"-DFETCHCONTENT_SOURCE_DIR_GOOGLETEST=$ROOT/build/_deps/googletest-src"
+			-DFETCHCONTENT_UPDATES_DISCONNECTED=ON
+		)
+	fi
+	cmake -B "$BUILD_DIR" \
+		-DCMAKE_BUILD_TYPE=Debug \
+		-DENABLE_COVERAGE=ON \
+		-DBUILD_TESTING=ON \
+		-DWITH_QT=OFF \
+		-DWITH_PYTHON=OFF \
+		-DWITH_CERES=OFF \
+		-DWITH_G2O=OFF \
+		-DWITH_GTSAM=OFF \
+		-DWITH_MRPT=OFF \
+		-DWITH_VERTIGO=OFF \
+		-DWITH_CVSBA=OFF \
+		-DWITH_POINTMATCHER=OFF \
+		-DWITH_CCCORELIB=OFF \
+		-DWITH_OPEN3D=OFF \
+		-DWITH_LOAM=OFF \
+		-DWITH_FLOAM=OFF \
+		-DWITH_LIOSAM=OFF \
+		-DWITH_FLYCAPTURE2=OFF \
+		-DWITH_ZED=OFF \
+		-DWITH_ZEDOC=OFF \
+		-DWITH_REALSENSE=OFF \
+		"${gtest_args[@]}"
+}
+
+if [[ ! -f "$BUILD_DIR/CMakeCache.txt" ]]; then
+	echo "Configuring $BUILD_DIR (Debug + ENABLE_COVERAGE)..."
+	configure_coverage_build
+elif ! grep -q '^ENABLE_COVERAGE:BOOL=ON' "$BUILD_DIR/CMakeCache.txt" 2>/dev/null; then
+	echo "Reconfiguring $BUILD_DIR with ENABLE_COVERAGE=ON..."
+	configure_coverage_build
+fi
+
+echo "Building $BUILD_DIR (gcov tool: $GCOV_TOOL)..."
+cmake --build "$BUILD_DIR" -j"$JOBS"
+
+echo "Clearing old coverage runtime data..."
+find "$BUILD_DIR" -name '*.gcda' -delete
+
+echo "Running tests..."
+# Prepend coverage libs: otherwise LD_LIBRARY_PATH (e.g. ROS) can load
+# librtabmap from another build tree and .gcda is never written for corelib/src.
+(
+	export LD_LIBRARY_PATH="$BUILD_DIR/bin${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+	cd "$BUILD_DIR" && ctest --output-on-failure
+)
+
+echo "Capturing coverage..."
+lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
+	--capture --directory "$BUILD_DIR" --output-file "$INFO_FILE"
+
+echo "Filtering coverage data (repo sources only)..."
+lcov "${LCOV_IGNORE[@]}" --extract "$INFO_FILE" \
+	"${ROOT}/*" \
+	--output-file "$INFO_FILE"
+lcov "${LCOV_IGNORE[@]}" --remove "$INFO_FILE" \
+	'*/googletest/*' \
+	'*/_deps/*' \
+	'*/sqlite3/*' \
+	'*/corelib/test/*' \
+	'*/utilite/test/*' \
+	--output-file "$INFO_FILE"
+
+echo "Generating HTML..."
+rm -rf "$HTML_DIR"
+genhtml "$INFO_FILE" --output-directory "$HTML_DIR" --legend --demangle-cpp
+
+echo ""
+echo "Done: $HTML_DIR/index.html"
+lcov --summary "$INFO_FILE" 2>/dev/null || true