From 5a038dabeffbed62ce829039f1448539d3e64d8c Mon Sep 17 00:00:00 2001
From: Cheng Peng <chpeng@meta.com>
Date: Wed, 13 Sep 2023 11:04:34 -0700
Subject: [PATCH] add build-and-test-pysophus.yml to run pysophus unit test

---
 .github/workflows/build-and-test-pysophus.yml | 68 +++++++++++++++++++
 .github/workflows/main.yml                    | 21 ------
 pysophus/SO3PyBind.h                          |  1 +
 3 files changed, 69 insertions(+), 21 deletions(-)
 create mode 100644 .github/workflows/build-and-test-pysophus.yml

diff --git a/.github/workflows/build-and-test-pysophus.yml b/.github/workflows/build-and-test-pysophus.yml
new file mode 100644
index 000000000..b1878411d
--- /dev/null
+++ b/.github/workflows/build-and-test-pysophus.yml
@@ -0,0 +1,68 @@
+name: Build and Test
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: Build pysophus on ${{ matrix.os }} / ${{ matrix.cmakeOptions }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, macos-10.15]
+    steps:
+      - name : Checkout
+        uses: actions/checkout@v2
+        with:
+          submodules: 'true'
+
+      - name: Install dependencies
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+              # Update & upgrade package lists
+              sudo apt-get update -y
+              sudo apt-get upgrade
+              # Deal with Github CI limitation
+              # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
+              sudo apt install -y libunwind-dev
+
+              # Generic dependencies
+              sudo apt-get install cmake
+
+              # Clean APT cache
+              sudo apt-get clean
+
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+              # Install system deps with Homebrew
+              brew install cmake
+              # VRS dependencies
+              brew install fmt lz4 zstd xxhash
+          else
+              echo "$RUNNER_OS not supported"
+              exit 1
+          fi
+
+      - name: Install pysophus
+        shell: bash
+        run: |
+          # Installing Python and dependencies
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get install libpython3-dev python3-pip
+            sudo pip3 install numpy pytest
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            pip3 install numpy pytest
+          else
+            echo "$RUNNER_OS not supported"
+            exit 1
+          fi
+
+          # Build and install Python bindings
+          pip3 install .
+
+      - name: Run pysophus tests
+        shell: bash
+        run: python3 -m pytest pysophus/tests/sophusPybindTests.py
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index fd5662a99..c8a4fff12 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -64,24 +64,3 @@ jobs:
 
       - name: Run tests
         run: ./scripts/run_cpp_tests.sh
-
-      - name: Install pysophus
-        shell: bash
-        run: |
-          # Installing Python and dependencies
-          if [ "$RUNNER_OS" == "Linux" ]; then
-            sudo apt-get install libpython3-dev python3-pip
-            sudo pip3 install numpy pytest
-          elif [ "$RUNNER_OS" == "macOS" ]; then
-            pip3 install numpy pytest
-          else
-            echo "$RUNNER_OS not supported"
-            exit 1
-          fi
-
-          # Build and install Python bindings
-          pip3 install .
-
-      - name: Run pysophus tests
-        shell: bash
-        run: pytest pysophus/tests/sophusPybindTests.py
diff --git a/pysophus/SO3PyBind.h b/pysophus/SO3PyBind.h
index f82e9d9c1..cf27a0c14 100644
--- a/pysophus/SO3PyBind.h
+++ b/pysophus/SO3PyBind.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <fmt/format.h>
 #include <sophus/common.hpp>
 #include <sophus/so3.hpp>