From 507cb2c4834f8be1535c3c6e90872d15ab8b5a47 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 20 Jun 2026 12:38:11 -0700
Subject: [PATCH] Updated ci config

---
 .github/workflows/cmake-linux.yml |  4 ++--
 docker/resolute/deps/Dockerfile   | 21 +++++++++++----------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/cmake-linux.yml b/.github/workflows/cmake-linux.yml
index 60bde6ac..bf2b51fb 100644
--- a/.github/workflows/cmake-linux.yml
+++ b/.github/workflows/cmake-linux.yml
@@ -38,8 +38,8 @@ jobs:
           extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
         - build_name: ubuntu-26.04
           os: ubuntu-26.04
-          extra_deps: ""
-          extra_cmake_def: ""
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
 
     steps:
     - uses: actions/checkout@v4
diff --git a/docker/resolute/deps/Dockerfile b/docker/resolute/deps/Dockerfile
index e6606c18..67999aa8 100644
--- a/docker/resolute/deps/Dockerfile
+++ b/docker/resolute/deps/Dockerfile
@@ -30,6 +30,7 @@ RUN apt-get update && \
       libpcl-dev \
       liboctomap-dev \
       libfreenect-dev \
+      libceres-dev \
       ros-lyrical-ros-base \
       ros-dev-tools \
       ros-lyrical-cv-bridge \
@@ -80,16 +81,16 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
     rm -r zed-open-capture; fi
 
 # OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
-#RUN git clone --branch 4.10.0 https://github.com/opencv/opencv.git && \
-#    git clone --branch 4.10.0 https://github.com/opencv/opencv_contrib.git && \
-#    cd opencv && \
-#    mkdir build && \
-#    cd build && \
-#    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-#    make -j4 && \
-#    make install && \
-#    cd ../.. && \
-#    rm -rf opencv opencv_contrib
+RUN git clone --branch 4.10.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.10.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
 
 RUN git clone https://github.com/laurentkneip/opengv.git && \
     cd opengv && \