Adding doc and tests #195
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| name: CMake-Linux | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| branches: | |
| - '**' | |
| env: | |
| BUILD_TYPE: Release | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: ${{ github.event_name == 'pull_request' }} | |
| jobs: | |
| build: | |
| name: ${{ matrix.build_name }} | |
| runs-on: ${{ matrix.os }} | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.build_name }} | |
| cancel-in-progress: true | |
| strategy: | |
| fail-fast: true | |
| matrix: | |
| build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv] | |
| include: | |
| - build_name: ubuntu-22.04 | |
| os: ubuntu-22.04 | |
| extra_deps: "libunwind-dev libceres-dev" | |
| extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON" | |
| - build_name: ubuntu-24.04 | |
| os: ubuntu-24.04 | |
| extra_deps: "libg2o-dev libceres-dev" | |
| extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON" | |
| - build_name: ubuntu-24.04-with-opengv | |
| os: ubuntu-24.04 | |
| extra_deps: "libg2o-dev libceres-dev" | |
| extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON" | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Restore test data | |
| id: cache-testdata | |
| uses: actions/cache@v4 | |
| with: | |
| # SQLite DBs are binary-portable -> share the cache across | |
| # linux / macos / windows. Key omits runner.os on purpose so all | |
| # three OSes hit the same entry. | |
| path: data/tests/*.db | |
| key: testdata-${{ hashFiles('data/tests/manifest.txt') }} | |
| - name: Fetch test data | |
| if: steps.cache-testdata.outputs.cache-hit != 'true' | |
| shell: bash | |
| run: bash scripts/fetch_test_data.sh | |
| - name: Install Linux Dependencies | |
| run: | | |
| DEBIAN_FRONTEND=noninteractive | |
| sudo apt-get update | |
| sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }} | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.x' | |
| - name: Install Python Dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install numpy pybind11 | |
| - name: Configure CMake | |
| run: | | |
| cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }} | |
| - name: Build | |
| run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} | |
| - name: Info | |
| working-directory: ${{github.workspace}}/build/bin | |
| run: | | |
| ./rtabmap-console --version | |
| - name: Test | |
| working-directory: ${{github.workspace}}/build | |
| # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from | |
| # loading numpy / other site-packages from ~/.local that were compiled | |
| # against a different ABI than the build-time Python (causes numpy | |
| # 1.x/2.x mismatch crashes in test_pydetector / test_pydescriptor / | |
| # test_pymatcher). | |
| env: | |
| PYTHONNOUSERSITE: 1 | |
| run: | | |
| ctest -C ${{env.BUILD_TYPE}} --output-on-failure | |
| ctest -C ${{env.BUILD_TYPE}} --output-on-failure --rerun-failed |