CI smoketest on a virtualized A55 CPU

.github/workflows/main.yml

@@ -63,7 +63,24 @@ jobs:
 
     - name: Build shared mrcal_jni
       # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/cmake_build --target mrcal_jni
+      shell: bash
+      run: |
+        cmake --build "${{ github.workspace }}/cmake_build" --target mrcal_jni
+        "${{ github.workspace }}/cmake_build/bin/mrcal_jni_test"
+
+    - name: Stage arm64 artifacts
+      if: matrix.arch-name == 'linuxarm64'
+      shell: bash
+      run: |
+        mkdir -p stage
+        cp "${{ github.workspace }}/cmake_build/bin/mrcal_jni_test" stage/
+        find "${{ github.workspace }}/cmake_build" -type f \( -name '*.so' -o -name '*.so.*' \) -exec cp -a {} stage/ \;
+
+    - uses: actions/upload-artifact@v7
+      if: matrix.arch-name == 'linuxarm64'
+      with:
+        name: mrcal-jni-arm64-bin
+        path: stage/
 
     - name: Gradle build
       # Build your program with the given configuration
@@ -79,3 +96,28 @@ jobs:
       with:
         name: libmrcal-jar-${{ matrix.arch-name }}
         path: ${{ github.workspace }}/build/libs/*.jar
+
+  qemu-aarch64:
+    needs: build-host
+    runs-on: ubuntu-latest
+    name: "mrcal-jni - Run - qemu-aarch64"
+
+    steps:
+    - uses: actions/download-artifact@v4
+      with:
+        name: mrcal-jni-arm64-bin
+        path: ${{ github.workspace }}/artifacts
+
+    - name: Install QEMU and ARM64 runtime
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y qemu-user gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+
+    - name: Run test under qemu-aarch64
+      run: |
+        chmod +x "${{ github.workspace }}/artifacts/mrcal_jni_test"
+        qemu-aarch64 \
+          -cpu cortex-a55 \
+          -L /usr/aarch64-linux-gnu \
+          -E LD_LIBRARY_PATH="${{ github.workspace }}/artifacts" \
+          "${{ github.workspace }}/artifacts/mrcal_jni_test"

src/mrcal_test.cpp

@@ -221,7 +221,7 @@ int main() {
   double calobjectSpacing(0.0254);
   cv::Size sampleRes{60, 40};
 
-  for (int i = 0; i < 5; i++) {
+  for (int i = 0; i < 1; i++) {
     auto start = std::chrono::high_resolution_clock::now();
     auto ret = compute_uncertainty(observations_board_cast, intrinsics,
                                    rt_ref_cast, warp, imagerSize, calobjectSize,