ci.yml

name: Ubuntu

on:
  push:
    branches: [ "main" ]
  pull_request:
    branches: [ "main" ]

env:
  CTEST_EXCLUSIONS: (mvs/gpu_mat_test)

jobs:
  build:
    strategy:
      matrix:
        os: [ubuntu-22.04, ubuntu-20.04]
        cuda: [true, false]
        asan: [true, false]
        exclude:
          - os: ubuntu-20.04
            cuda: true
            asan: true
          - os: ubuntu-20.04
            cuda: false
            asan: true
          - os: ubuntu-22.04
            asan: true
            cuda: true

    runs-on: ${{ matrix.os }}

    steps:
    - run: |
        sudo apt-get update && sudo apt-get install -y \
          build-essential \
          ninja-build \
          libboost-program-options-dev \
          libboost-filesystem-dev \
          libboost-graph-dev \
          libboost-system-dev \
          libboost-test-dev \
          libeigen3-dev \
          libflann-dev \
          libfreeimage-dev \
          libmetis-dev \
          libgoogle-glog-dev \
          libgflags-dev \
          libsqlite3-dev \
          libglew-dev \
          qtbase5-dev \
          libqt5opengl5-dev \
          libcgal-dev \
          libcgal-qt5-dev \
          libgl1-mesa-dri \
          libunwind-dev \
          libgtest-dev \
          xvfb
      name: Install dependencies
    - run: |
        sudo apt-get install -y \
          nvidia-cuda-toolkit \
          nvidia-cuda-toolkit-gcc
        echo "CC=/usr/bin/cuda-gcc" >> $GITHUB_ENV
        echo "CXX=/usr/bin/cuda-g++" >> $GITHUB_ENV
      if: ${{ matrix.cuda && matrix.os == 'ubuntu-20.04' }}
      name: Install CUDA
    - run: |
        sudo apt-get install -y \
          nvidia-cuda-toolkit \
          nvidia-cuda-toolkit-gcc \
          gcc-10 g++-10
        echo "CC=/usr/bin/gcc-10" >> $GITHUB_ENV
        echo "CXX=/usr/bin/g++-10" >> $GITHUB_ENV
        echo "CUDAHOSTCXX=/usr/bin/g++-10" >> $GITHUB_ENV
      if: ${{ matrix.cuda && matrix.os == 'ubuntu-22.04' }}
      name: Install CUDA
    - run: |
        sudo apt-get install -y clang-15
        echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
        echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
        echo 'CTEST_EXCLUSIONS="(feature/sift_test)|(util/opengl_utils_test)|(mvs/gpu_mat_test)"' >> $GITHUB_ENV
      if: ${{ matrix.asan }}
      name: Install Clang
    - run: |
        CMAKE_VERSION=3.28.6
        CMAKE_DIR=cmake-${CMAKE_VERSION}-linux-x86_64
        wget https://github.com/Kitware/CMake/releases/download/v${CMAKE_VERSION}/${CMAKE_DIR}.tar.gz
        tar -xzf ${CMAKE_DIR}.tar.gz
        sudo cp -r ${CMAKE_DIR}/* /usr/local/
        rm -rf ${CMAKE_DIR}*
      name: Upgrade CMake
    - run: |
        sudo apt-get install -y \
          libgoogle-glog-dev \
          libgflags-dev \
          libatlas-base-dev \
          libsuitesparse-dev
        wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.2.0.tar.gz
        mv 2.2.0.tar.gz ceres-solver-2.2.0.tar.gz
        tar zxf ceres-solver-2.2.0.tar.gz
        mkdir ceres-bin
        cd ceres-bin
        cmake ../ceres-solver-2.2.0
        make -j3
        make test
        sudo make install
      name: Install Ceres 2.2.0

    - name: Checkout
      uses: actions/checkout@v3

    - run: |
        cmake --version
        mkdir build
        cd build
        cmake .. \
          -GNinja \
          -DTESTS_ENABLED=ON \
          -DASAN_ENABLED=${{ matrix.asan }}
        ninja
      name: Configure and build
    - run: |
        export DISPLAY=":99.0"
        export QT_QPA_PLATFORM="offscreen"
        Xvfb :99 &
        sleep 3
        cd build
        ctest -E "$CTEST_EXCLUSIONS"
        tests_pass=$?
        if [ $tests_pass -ne 0 ]; then
            echo "Tests failed, rerunning with verbose output"
            ctest --rerun-failed --output-on-failure
        fi
        exit $tests_pass
      name: Run tests