gtsfm/.github/workflows/ci.yml at a7f0e18bdde925ac92967efb7404893667651e5c · borglab/gtsfm · GitHub

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name: CI

on:
  pull_request:
    paths-ignore:
      - "gtsfm/visualization/**"
  workflow_dispatch:

jobs:
  test:
    name: Unit tests and python checks
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v6.0.1

      - name: Install uv
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.17"
          enable-cache: true
          cache-dependency-glob: "uv.lock"

      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y nodejs npm graphviz

      - name: Install project dependencies
        run: |
          uv sync --locked --python 3.12 --all-groups
          uv pip install torch-scatter --find-links https://data.pyg.org/whl/torch-2.7.0+cu128.html

      - name: Environment setup
        run: |
          bash .github/scripts/setup.sh

      - name: Flake check
        run: |
          set -e
          uv run flake8 --max-line-length 120 --ignore E201,E202,E203,E231,W291,W293,E303,W391,E402,W503,E731 gtsfm tests

      - name: Unit tests
        run: |
          set -e
          uv run pytest tests -m "not slow" --durations=0 --cov gtsfm \
            --ignore tests/repro_tests \
            --ignore tests/loader/test_argoverse_dataset_loader.py \
            --ignore tests/runner/test_frontend_runner.py \
            --ignore tests/frontend/correspondence_generator/test_mast3r_correspondence_generator.py
          uv run coverage report

  benchmark:
    name: Benchmark
    if: ${{ !contains(github.event.pull_request.title, '[skip benchmarks]') }}
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        config_dataset_info: [
            [sift      , door-12             , 15, JPG, test_data, olsson-loader , 1296, true ],
            [lightglue , door-12             , 15, JPG, test_data, olsson-loader , 1296, true ],
            [megaloc   , door-12             , 15, JPG, test_data, olsson-loader , 1296, true ],
            [sift      , skydio-8            , 15, jpg, wget     , colmap-loader ,  760, true ],
            [lightglue , skydio-8            , 15, jpg, wget     , colmap-loader ,  760, true ],
            [megaloc   , skydio-8            , 15, jpg, wget     , colmap-loader ,  760, true ],
            [sift      , skydio-32           , 15, jpg, wget     , colmap-loader ,  760, true ],
            [lightglue , skydio-32           , 15, jpg, wget     , colmap-loader ,  760, true ],
            [megaloc   , skydio-32           , 15, jpg, wget     , colmap-loader ,  760, true ],
            [sift      , palace-fine-arts-281 ,15, jpg, wget     , olsson-loader ,  320, true ],
            [lightglue , notre-dame-20       , 15, jpg, wget     , colmap-loader ,  760, false],
            [sift      , 2011205_rc3         , 15, png, wget     , astrovision   , 1024, true ],
            [lightglue , 2011205_rc3         , 15, png, wget     , astrovision   , 1024, true ],
            [sift      , gerrard-hall-100    , 15, jpg, wget     , colmap-loader ,  760, true ],
            [lightglue , gerrard-hall-100    , 15, jpg, wget     , colmap-loader ,  760, true ],
            [sift      , south-building-128  , 15, jpg, wget     , colmap-loader ,  760, true ],
            [lightglue , south-building-128  , 15, jpg, wget     , colmap-loader ,  760, true ],
          ]

    steps:
      - uses: actions/checkout@v6.0.1

      - name: Cache frontend
        uses: actions/cache@v5
        env:
          CACHE_NUMBER_FRONTEND: 3
        with:
          path: cache
          key: ${{ matrix.config_dataset_info[0] }}-${{ matrix.config_dataset_info[1] }}-${{ matrix.config_dataset_info[2] }}-${{ matrix.config_dataset_info[6] }}-${{ env.CACHE_NUMBER_FRONTEND }}

      - name: Install uv
        uses: astral-sh/setup-uv@v7
        with:
          version: "0.9.17"
          enable-cache: true
          cache-dependency-glob: "uv.lock"

      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y nodejs npm graphviz

      - name: Install project dependencies
        run: |
          uv sync --locked --python 3.12
          uv pip install torch-scatter --find-links https://data.pyg.org/whl/torch-2.7.0+cu128.html

      - name: Environment setup
        run: bash .github/scripts/setup.sh

      - name: Prepare dataset
        run: |
          DATASET_NAME=${{ matrix.config_dataset_info[1] }}
          DATASET_SRC=${{ matrix.config_dataset_info[4] }}
          bash .github/scripts/download_single_benchmark.sh \
            $DATASET_NAME \
            $DATASET_SRC

      - name: Run GTSFM
        run: |
          DATASET_NAME=${{ matrix.config_dataset_info[1] }}
          CONFIG_NAME=${{ matrix.config_dataset_info[0] }}
          MAX_FRAME_LOOKAHEAD=${{ matrix.config_dataset_info[2] }}
          LOADER_NAME=${{ matrix.config_dataset_info[5] }}
          MAX_RESOLUTION=${{ matrix.config_dataset_info[6] }}
          SHARE_INTRINSICS=${{ matrix.config_dataset_info[7] }}
          bash .github/scripts/execute_single_benchmark.sh \
            $DATASET_NAME \
            $CONFIG_NAME \
            $MAX_FRAME_LOOKAHEAD \
            $LOADER_NAME \
            $MAX_RESOLUTION \
            $SHARE_INTRINSICS

      - name: Archive dataset metrics, plots, and output data
        uses: actions/upload-artifact@v5
        with:
          name: results-${{ matrix.config_dataset_info[0] }}-${{ matrix.config_dataset_info[1] }}-${{ matrix.config_dataset_info[2] }}-${{ matrix.config_dataset_info[3] }}-${{ matrix.config_dataset_info[4] }}-${{ matrix.config_dataset_info[5] }}-${{ matrix.config_dataset_info[6] }}-${{ matrix.config_dataset_info[7] }}.zip
          path: |
            result_metrics
            plots
            results
            dask_reports