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CI: use ubuntu arm runners instead of QEMU (#1771)

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* CI: use ubuntu arm runners instead of QEMU

* removed focal deps docker image ci

* run tests in docker ci

* revert temporary test

* trigger ci jobs with modified files

* ldconfig

* arm64 ldconfig order

* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

* fixing ExtractXYZCorrespondencesRANSAC ci error

* increased windows timeout (probably caused by gftt fix now extracting more features)
This commit is contained in:
matlabbe
2026-09-22 14:41:07 -07:00
committed by GitHub
parent 9ed83a71db
commit 16fb2f0541
30 changed files with 719 additions and 278 deletions
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corelib/test/CMakeLists.txt
+6
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@@ -169,6 +169,12 @@ target_link_libraries(test_rtabmap_integration gtest_main rtabmap_core)
# `ctest -L long`.
add_test(NAME test_rtabmap_integration COMMAND test_rtabmap_integration)
math(EXPR _integration_timeout "1800 * ${_test_timeout_scale}")
# The Windows runners replay the sample DBs far slower than the Linux and macOS
# ones (the rest of the suite takes ~3 min there, this test alone went over 30),
# so they get twice the budget rather than lowering the bar for every platform.
IF(WIN32)
math(EXPR _integration_timeout "${_integration_timeout} * 2")
ENDIF(WIN32)
set_tests_properties(test_rtabmap_integration PROPERTIES
TIMEOUT ${_integration_timeout}
LABELS "long")