name: CMake-Linux

on:
  push:
    branches: 
      - master
  pull_request:
    branches: 
      - '**'

env:
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    name: ${{ matrix.build_name }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: true
      matrix:
        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
        include:
        - build_name: ubuntu-22.04
          os: ubuntu-22.04
          extra_deps: "libunwind-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
        - build_name: ubuntu-24.04
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
        - build_name: ubuntu-24.04-with-opengv
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
        - build_name: ubuntu-26.04
          os: ubuntu-26.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"

    steps:
    - uses: actions/checkout@v4

    - name: Install Linux Dependencies
      run: |
        DEBIAN_FRONTEND=noninteractive
        sudo apt-get update
        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: '3.x'

    - name: Install Python Dependencies
      run: |
        python -m pip install --upgrade pip
        pip install numpy pybind11

    - name: Configure CMake
      run: |
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}

    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

    - name: Info
      working-directory: ${{github.workspace}}/build/bin
      run: |
        ./rtabmap-console --version

#    - name: Test
#      working-directory: ${{github.workspace}}/build
#      # Execute tests defined by the CMake configuration.  
#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
#      run: ctest -C ${{env.BUILD_TYPE}}