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Summer cleanup #341

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c12e454
add justfile
artivis Jul 11, 2026
238424a
add workshop
artivis Jul 11, 2026
88b04d5
ci update/cleanup/pin
artivis Jul 11, 2026
edebf1e
update min CMake & rely on installed gtest
artivis Jul 11, 2026
850ce76
fix link in readme
artivis Jul 11, 2026
8459462
fix tmp assign issue
artivis Jul 11, 2026
9db16eb
cleanup eigen cmake logic
artivis Jul 11, 2026
ca08043
Replace deprecated `std::random_shuffle`
ethanmusser Jan 8, 2026
50e45f9
CI eigen3-5
artivis Jul 15, 2026
fab312f
handle array-bound false positive
artivis Jul 15, 2026
be99535
index ws how-to
artivis Jul 15, 2026
bcb9989
use double comp macro
artivis Aug 4, 2026
5c2b70d
ignore unused var errors in examples
artivis Aug 4, 2026
2c68372
fix CI release build
artivis Aug 5, 2026
269553e
rm appveyor
artivis Aug 4, 2026
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163 changes: 110 additions & 53 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,13 @@ jobs:
strategy:
fail-fast: false
matrix:
os: [ubuntu-22.04, ubuntu-24.04]
os:
- ubuntu-22.04
- ubuntu-22.04-arm
- ubuntu-24.04
- ubuntu-24.04-arm
- ubuntu-26.04
- ubuntu-26.04-arm
build_type: [Release, Debug]
compiler: [
{
Expand All @@ -35,23 +41,31 @@ jobs:
CXX: ${{ matrix.compiler.cxx }}
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libeigen3-dev
sudo apt install -y libeigen3-dev libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Display config
run: |
echo "OS:" && $RUNNER_OS && echo ""
echo "Compiler:" && $CC && $CXX && echo ""
echo "Eigen:" && apt-cache policy libeigen3-dev | grep Installed
echo "OS: RUNNER_OS=$RUNNER_OS" && echo ""
echo "Compiler: CC=$CC CXX=$CXX" && echo ""
echo "Eigen: $(apt-cache policy libeigen3-dev | grep Installed)"
- name: Configure
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
run: |
RELEASE_FLAGS=""
# GCC 15 -O3 miscompiles manif's bundle Generator code (bundle tests
# fail intermittently). -fno-guess-branch-probability keeps -O3 and
# avoids the bad codegen path. Only apply to gcc + Release.
if [ "${{ matrix.compiler.cc }}" = "gcc" ] && [ "${{ matrix.build_type }}" = "Release" ]; then
RELEASE_FLAGS="-fno-guess-branch-probability"
fi
cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_FLAGS_RELEASE="$RELEASE_FLAGS"
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
Expand All @@ -60,13 +74,13 @@ jobs:
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [macos-14, macos-15]
os: [macos-14, macos-15, macos-15-intel, macos-26, macos-26-intel]
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
brew install eigen
brew install eigen googletest
mkdir ${{ runner.workspace }}/build
- name: Display config
run: |
Expand All @@ -78,7 +92,7 @@ jobs:
run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
Expand All @@ -95,10 +109,10 @@ jobs:
]
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
vcpkg install eigen3:x64-windows
vcpkg install eigen3:x64-windows gtest
cd ${{ runner.workspace }}
mkdir build
- name: Display config
Expand All @@ -117,23 +131,71 @@ jobs:
working-directory: ${{ runner.workspace }}/build
run: ctest . -C Release

eigen3-5:
runs-on: ubuntu-26.04
strategy:
fail-fast: false
matrix:
build_type: [Release, Debug]
compiler: [
{
"cc": "gcc",
"cxx": "g++"
}, {
"cc": "clang",
"cxx": "clang++"
}
]
env:
CC: ${{ matrix.compiler.cc }}
CXX: ${{ matrix.compiler.cxx }}
steps:
- name: Checkout
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libblas3 curl tar libgtest-dev
curl -sL https://gitlab.com/libeigen/eigen/-/archive/5.0.0/eigen-5.0.0.tar.gz | tar -xzf -
cd eigen-5.0.0
cmake -S . -B build -DBUILD_TESTING=OFF
cmake --build build
sudo cmake --install build
mkdir ${{ runner.workspace }}/build
- name: Configure CMake
working-directory: ${{ runner.workspace }}/build
run: |
RELEASE_FLAGS=""
# GCC 15 -O3 miscompiles manif's bundle Generator code (bundle tests
# fail intermittently). -fno-guess-branch-probability keeps -O3 and
# avoids the bad codegen path. Only apply to gcc + Release.
if [ "${{ matrix.compiler.cc }}" = "gcc" ] && [ "${{ matrix.build_type }}" = "Release" ]; then
RELEASE_FLAGS="-fno-guess-branch-probability"
fi
cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_CXX_FLAGS_RELEASE="$RELEASE_FLAGS"
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: ctest . -C ${{ matrix.build_type }}

cppcheck:
needs: [build-ubuntu]
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libunwind-dev
sudo apt install -y libceres-dev cppcheck
sudo apt install -y libceres-dev libunwind-dev cppcheck libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Configure CMake
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DENABLE_CPPCHECK=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make run-cppcheck
Expand All @@ -143,19 +205,18 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libunwind-dev
sudo apt install -y libceres-dev valgrind
sudo apt install -y libceres-dev libunwind-dev valgrind libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Configure CMake
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DENABLE_VALGRIND=ON -DBUILD_TESTING=ON
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: ctest -T memcheck
Expand All @@ -165,19 +226,18 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libunwind-dev
sudo apt install -y libceres-dev
sudo apt install -y libceres-dev libunwind-dev libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Configure CMake
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DENABLE_COVERAGE=ON -DBUILD_TESTING=ON
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
Expand All @@ -187,28 +247,21 @@ jobs:

ceres:
needs: [build-ubuntu]
# runs-on: ubuntu-latest
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
# Test for both Ceres pre/post 2.2
matrix:
os: [ubuntu-22.04, ubuntu-24.04]
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libunwind-dev
sudo apt install -y libceres-dev
sudo apt install -y libceres-dev libunwind-dev libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Configure CMake
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
Expand All @@ -218,15 +271,15 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- name: Setup
run: |
sudo apt update
sudo apt install -y libeigen3-dev
sudo apt install -y libeigen3-dev libgtest-dev
mkdir ${{ runner.workspace }}/build
# Install autodiff
- name: Checkout autodiff
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
with:
repository: autodiff/autodiff
ref: main
Expand All @@ -245,7 +298,7 @@ jobs:
run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
Expand All @@ -256,14 +309,14 @@ jobs:
fail-fast: false
matrix:
platform: [macos-latest, ubuntu-latest] #windows-latest,
python-version: ['3.8', '3.9', '3.10', '3.12']
python-version: ['3.10', '3.12', '3.14']
runs-on: ${{ matrix.platform }}
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- run: git fetch --prune --unshallow
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v5
uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1 # v6.3.0
with:
python-version: ${{ matrix.python-version }}
- name: Setup apt
Expand All @@ -287,27 +340,31 @@ jobs:
needs: [build-ubuntu, build-mac]
strategy:
matrix:
platform: [ubuntu-22.04, ubuntu-24.04]
platform: [ubuntu-22.04, ubuntu-24.04, ubuntu-26.04]
runs-on: ${{ matrix.platform }}
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7
- run: git fetch --prune --unshallow
# - name: Set up Python ${{ matrix.python-version }}
# uses: actions/setup-python@v2
# with:
# python-version: ${{ matrix.python-version }}
- name: Setup apt
run: |
sudo apt update
sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy
sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy libgtest-dev
mkdir ${{ runner.workspace }}/build
- name: Configure
working-directory: ${{ runner.workspace }}/build
run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release
run: |
RELEASE_FLAGS=""
# GCC 15 -O3 miscompiles manif's bundle Generator code (bundle tests
# fail intermittently). -fno-guess-branch-probability keeps -O3 and
# avoids the bad codegen path. Only apply to gcc + Release.
if [ "${{ matrix.platform }}" = "ubuntu-26.04" ]; then
RELEASE_FLAGS="-fno-guess-branch-probability"
fi
cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS_RELEASE="$RELEASE_FLAGS"
- name: Build
working-directory: ${{ runner.workspace }}/build
run: make -j2
run: make -j$(nproc)
- name: Test
working-directory: ${{ runner.workspace }}/build
run: make test
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