Add FilterCameraOutliers outlier removal to BAL example
#408
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| types: [opened, synchronize, reopened, ready_for_review] | |
| workflow_dispatch: | |
| jobs: | |
| test-on-ubuntu: | |
| if: github.event.event_name == 'workflow_dispatch' || github.event.pull_request.draft == false | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04, ubuntu-22.04] | |
| python: [python3.8, python3.9, python3.10, python3.11, python3.12] | |
| compiler: | |
| - C: gcc-11 | |
| CXX: g++-11 | |
| package: g++-11 | |
| repos: ['"ppa:ubuntu-toolchain-r/test"'] | |
| include: | |
| # gcc 5 | |
| - os: ubuntu-20.04 | |
| python: python3.8 | |
| compiler: | |
| C: gcc-5 | |
| CXX: g++-5 | |
| package: g++-5 | |
| repos: | |
| - '"deb http://us.archive.ubuntu.com/ubuntu/ bionic main"' | |
| - '"deb http://us.archive.ubuntu.com/ubuntu/ bionic universe"' | |
| # Clang 7 | |
| - os: ubuntu-20.04 | |
| python: python3.8 | |
| compiler: | |
| C: clang-7 | |
| CXX: clang++-7 | |
| package: clang-7 | |
| repos: [] | |
| # Clang 15 | |
| - os: ubuntu-22.04 | |
| python: python3.10 | |
| compiler: | |
| C: clang-15 | |
| CXX: clang++-15 | |
| package: clang-15 | |
| repos: [] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| # - Installing software-properties-common adds add-apt-repository | |
| - name: Update install tools | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y software-properties-common curl | |
| # - Adding matrix.compiler.repos is needed to have compiler available on all ubuntu versions | |
| - name: Install C and CXX compilers | |
| run: | | |
| for repo in ${{ join(matrix.compiler.repos, ' ') }} | |
| do | |
| sudo add-apt-repository -y "$repo" | |
| done | |
| sudo apt-get install -y ${{ matrix.compiler.package }} | |
| # - ppa:deadsnakes/ppa is needed to have python3.x-dev available on all ubuntu versions | |
| # - python3.x-dev is used instead of python3.x because the -dev version includes python header | |
| # files needed to compile C extension modules | |
| - name: Install python | |
| run: | | |
| sudo add-apt-repository -y ppa:deadsnakes/ppa | |
| sudo apt-get install -y \ | |
| ${{ matrix.python }}-dev \ | |
| ${{ matrix.python }}-distutils \ | |
| ${{ matrix.python }}-venv | |
| curl https://bootstrap.pypa.io/get-pip.py | ${{ matrix.python }} | |
| pip install --upgrade setuptools | |
| - name: Install general build dependencies | |
| run: | | |
| sudo apt-get install -y \ | |
| doxygen \ | |
| libgmp-dev \ | |
| pandoc | |
| # NOTE(brad): libunwind-dev is a broken dependency of libgoogle-glog-dev, itself | |
| # a dependency of ceres. Without this step on jammy, apt-get install libgoogle-glog-dev | |
| # would fail. If this step could be removed and still have the build succeed, it should. | |
| - name: Fix libunwind-dev install on jammy | |
| if: ${{ matrix.os == 'ubuntu-22.04' }} | |
| run: | | |
| sudo apt-get install -yf libunwind-dev | |
| - name: Install build dependencies for SymForce benchmarks | |
| run: | | |
| sudo apt-get install -y \ | |
| libboost-dev \ | |
| libboost-serialization-dev \ | |
| libboost-system-dev \ | |
| libboost-filesystem-dev \ | |
| libboost-thread-dev \ | |
| libboost-program-options-dev \ | |
| libboost-date-time-dev \ | |
| libboost-timer-dev \ | |
| libboost-chrono-dev \ | |
| libboost-regex-dev \ | |
| libgoogle-glog-dev \ | |
| libeigen3-dev | |
| # NOTE(aaron): Some packages do not have a version that supports py3.8..py3.12 | |
| - name: Fix py3.12 versions | |
| if: ${{ matrix.python == 'python3.12' }} | |
| run: | | |
| sed -i 's|numba==0.58.1|numba~=0.59.0|g' dev_requirements.txt | |
| sed -i 's|llvmlite==0.41.1|llvmlite~=0.42.0|g' dev_requirements.txt | |
| sed -i 's|numpy==1.24.4|numpy~=1.26.0|g' dev_requirements.txt | |
| sed -i 's|scipy==1.10.1|scipy~=1.12.0|g' dev_requirements.txt | |
| sed -i 's|pandas==2.0.3|pandas~=2.2.0|g' dev_requirements.txt | |
| - name: Install python dependencies | |
| run: pip install -r dev_requirements.txt | |
| - name: Run cmake build | |
| run: | | |
| cmake -B build \ | |
| -D CMAKE_C_COMPILER=${{ matrix.compiler.C }} \ | |
| -D CMAKE_CXX_COMPILER=${{ matrix.compiler.CXX }} \ | |
| -D "SYMFORCE_COMPILE_OPTIONS=-Wall;-Wextra;-Werror" \ | |
| -D SYMFORCE_PYTHON_OVERRIDE=${{ matrix.python }} \ | |
| -D SYMFORCE_BUILD_BENCHMARKS=ON | |
| cmake --build build -j $(nproc) | |
| # - lcmtypes need to be available for tests | |
| # - Exact contents of dev_requirements.txt depend on python version. Need to update file to | |
| # match current python version to avoid failure of corresponding gen test. symforce needs | |
| # to be on the PYTHONPATH to run gen test in this manner. | |
| - name: Run tests | |
| run: | | |
| pip install build/lcmtypes/python2.7 | |
| export PYTHONPATH=$PYTHONPATH:$(pwd) | |
| ${{ matrix.python }} test/symforce_requirements_test.py --update | |
| echo "Modifications made to requirements:" | |
| git diff | |
| EXIT_CODE=0 | |
| ctest --test-dir build -j $(nproc) || EXIT_CODE=$? | |
| if [ $EXIT_CODE -ne 0 ]; then | |
| ctest --test-dir build -j $(nproc) --rerun-failed --output-on-failure | |
| fi | |
| # Upload the docs as an artifact | |
| # To view, download the `docs` artifact from the build and matrix entry you're interested in | |
| # (probably any is good, assuming they all pass) | |
| # Unzip to a directory and run `npx http-server` in that directory | |
| - name: Upload Generated Docs | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: docs ${{ matrix.os }}-${{ matrix.python }}-${{ matrix.compiler.C }} | |
| path: build/docs |