Merge pull request #27 from rust-cv/update_ci

update CI script

Author: vadixidav

.github/workflows/ci.yml

@@ -11,79 +11,60 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout sources
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Install beta toolchain
-        uses: actions-rs/toolchain@v1
+        uses: dtolnay/rust-toolchain@beta
         with:
-          profile: minimal
-          toolchain: beta
-          override: true
           components: rustfmt, clippy
 
       - name: Set up cache
-        uses: Swatinem/rust-cache@v1
+        uses: Swatinem/rust-cache@v2
         with:
           cache-on-failure: true
 
       - name: Run cargo fmt
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: --all -- --check
+        run: cargo fmt --all -- --check
 
       - name: Run cargo clippy
-        uses: actions-rs/cargo@v1
-        with:
-          command: clippy
-          args: --tests -- -D warnings
+        run: cargo clippy --all-targets --tests -- -D warnings
 
   no_std:
     name: no_std
     runs-on: ubuntu-latest
     steps:
       - name: Checkout sources
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
-      - name: Install beta toolchain
-        uses: actions-rs/toolchain@v1
+      - name: Install beta toolchain for ARM
+        uses: dtolnay/rust-toolchain@beta
         with:
-          profile: minimal
-          toolchain: beta
-          target: armv7a-none-eabi
-          override: true
+          targets: armv7a-none-eabi
 
       - name: Set up cache
-        uses: Swatinem/rust-cache@v1
+        uses: Swatinem/rust-cache@v2
         with:
           cache-on-failure: true
 
       - name: Build binary for armv7a-none-eabi
-        uses: actions-rs/cargo@v1
-        with:
-          command: rustc
-          args: --target=armv7a-none-eabi --manifest-path=ensure_no_std/Cargo.toml
+        run: cargo rustc --target=armv7a-none-eabi --manifest-path=ensure_no_std/Cargo.toml
 
   tests:
     name: tests
     runs-on: ubuntu-latest
     steps:
       - name: Checkout sources
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Install beta toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          profile: minimal
-          toolchain: beta
-          override: true
+        uses: dtolnay/rust-toolchain@beta
 
       - name: Set up cache
-        uses: Swatinem/rust-cache@v1
+        uses: Swatinem/rust-cache@v2
         with:
           cache-on-failure: true
 
       - name: Run cargo test
-        uses: actions-rs/cargo@v1
-        with:
-          command: test
+        # run: cargo test --all-features --no-fail-fast --locked --workspace -- --nocapture
+        # run: cargo test --all-features --no-fail-fast --workspace -- --nocapture
+        run: cargo test --features "" --no-fail-fast --workspace -- --nocapture

Cargo.toml

@@ -26,21 +26,19 @@ minpack-compat = []
 
 [dependencies]
 nalgebra = { version = "0.34", default-features = false }
-num-traits = { version = "0.2", default-features = false, features = [
-    "libm",
-] }
-cfg-if = "1.0.0"
+num-traits = { version = "0.2", default-features = false, features = ["libm"] }
+cfg-if = "1.0.1"
 
 [dev-dependencies]
-arrsac = "0.10.0"
-rand = { version = "0.8.4", default-features = false }
+arrsac = "0.11.0"
+rand = { version = "0.9.2", default-features = false }
+rand_chacha = "0.9.0"
 nalgebra = "0.34"
-pcg_rand = "0.13.0"
 sample-consensus = "1.0.2"
 approx = "0.5.1"
 
 [build-dependencies]
-rustc_version = "0.4.0"
+rustc_version = "0.4.1"
 
 [profile.test]
 # The line fitting test case needs this to run in reasonable amount of time

src/lib.rs

@@ -63,12 +63,12 @@
 //!     type ResidualStorage = Owned<f64, U2>;
 //!     type JacobianStorage = Owned<f64, U2, U2>;
 //!     
-//!     fn set_params(&mut self, p: &VectorN<f64, U2>) {
+//!     fn set_params(&mut self, p: &Vector2<f64>) {
 //!         self.p.copy_from(p);
 //!         // do common calculations for residuals and the Jacobian here
 //!     }
 //!     
-//!     fn params(&self) -> VectorN<f64, U2> { self.p }
+//!     fn params(&self) -> Vector2<f64> { self.p }
 //!     
 //!     fn residuals(&self) -> Option<Vector2<f64>> {
 //!         let [x, y] = [self.p.x, self.p.y];

tests/line_fitting.rs

@@ -5,9 +5,11 @@ use nalgebra::{
     storage::Owned,
     Dim, Dyn, Matrix, Matrix2, OMatrix, VecStorage, Vector2,
 };
-use pcg_rand::Pcg64;
-use rand::distributions::Uniform;
-use rand::{distributions::Distribution, Rng};
+use rand::{
+    distr::{Distribution, Uniform},
+    Rng, SeedableRng,
+};
+use rand_chacha::ChaCha20Rng;
 use sample_consensus::{Consensus, Estimator, Model};
 
 type F = f64;
@@ -134,27 +136,27 @@ impl<'a> LeastSquaresProblem<F, Dyn, U2> for LineFittingOptimizationProblem<'a>
 
 #[test]
 fn lines() {
-    let mut rng = Pcg64::new_unseeded();
+    let mut rng = ChaCha20Rng::seed_from_u64(0);
     // The max candidate hypotheses had to be increased dramatically to ensure all 1000 cases find a
     // good-fitting line.
-    let mut arrsac = Arrsac::new(5.0, Pcg64::new_unseeded());
+    let mut arrsac = Arrsac::new(5.0, ChaCha20Rng::seed_from_u64(1));
     let mut would_have_failed = false;
     for _ in 0..LINES_TO_ESTIMATE {
         // Generate <a, b> and normalize.
         let normal =
-            Vector2::new(rng.gen_range(-10.0..10.0), rng.gen_range(-10.0..10.0)).normalize();
+            Vector2::new(rng.random_range(-10.0..10.0), rng.random_range(-10.0..10.0)).normalize();
         let normal_angle = F::atan2(normal[1], normal[0]);
         // Get parallel ray.
         let ray = Vector2::new(normal.y, -normal.x);
         // Generate random c.
-        let c = rng.gen_range(-10.0..10.0);
+        let c = rng.random_range(-10.0..10.0);
 
         // Generate random number of points.
-        let num = rng.gen_range(100..1000);
+        let num = rng.random_range(100..1000);
         // The points should be no more than 5.0 away from the line and be evenly distributed away from the line.
-        let residuals = Uniform::new(-5.0, 5.0);
+        let residuals = Uniform::new(-5.0, 5.0).unwrap();
         // The points must be generated along the line, but the distance should be bounded to make it more difficult.
-        let distances = Uniform::new(-50.0, 50.0);
+        let distances = Uniform::new(-50.0, 50.0).unwrap();
         // Generate the points.
         let points: Vec<Vector2<F>> = (0..num)
             .map(|_| {