[infra] Run cuNLS tests in PR CI

[vikuznetsov-nvidia]

TEST

Summary by CodeRabbit

• Tests

  • Added cuNLS test coverage across x86_64, Orin, and Thor build configurations.
  • Improved test configuration by validating required test targets and using the appropriate test data.
  • Enabled consistent cuNLS test execution across supported build environments.

• Chores

  • Added an optional build setting for enabling cuNLS tests, disabled by default to preserve existing build behavior.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

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📥 Commits

Reviewing files that changed from the base of the PR and between 6f02a6a and 0522f46.

📒 Files selected for processing (1)

• cmake/ext/cunls.cmake

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📝 Walkthrough

Walkthrough

The build system adds an opt-in cuNLS test option. cuNLS uses a pinned commit, preserves the caller’s testing state, and configures required test settings. The x86_64, Orin, and Thor verification jobs enable the option.

Changes

cuNLS Test Enablement

Layer / File(s)	Summary
cuNLS test configuration CMakeLists.txt, cmake/ext/cunls.cmake	Adds CUVSLAM_BUILD_CUNLS_TESTS, disabled by default. cuNLS uses a pinned Git commit, temporarily applies the option to BUILD_TESTING, restores the previous value, validates nls_tests, prioritizes GTest::gtest_main, and sets CUNLS_TEST_DATA_DIR.
Verification build enablement .github/workflows/pr-verify.yml	The x86_64, Orin, and Thor jobs pass -DCUVSLAM_BUILD_CUNLS_TESTS=ON through EXTRA_CMAKE_ARGS.

Priority: ⬇️ Low

Estimated code review effort: 2 (Simple) | ~10 minutes

Change: Other

Merge Risk: ⚪ Minimal · up to 0522f

The enabled verification builds have the required Git client for the pinned cuNLS checkout, and no actionable current-head issue remains.

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the main change: enabling cuNLS tests in pull request CI.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check. Docstring coverage is scoped to functions touched by this diff. Analyzed 0 functions across 0…
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches 💡 1

🛠️ Fix failing CI checks 💡

• Commit to this branch
• Create a new PR

🧪 Generate unit tests (beta)

• Commit to this branch
• Create a new PR

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[github-actions]

Test Results

Status	Platform	Language	Total	Passed	Failed	Errors	Skipped
✅	Orin	C++	338	338	0	0	0
✅	Orin	Python	74	73	0	0	1
❌	Thor	C++	338	337	1	0	0
⚠️	Thor	Python	0	0	0	0	0
✅	x86_64	C++	338	338	0	0	0
✅	x86_64	Python	74	73	0	0	1

Failed tests

Thor / C++:

• Sim3ManifoldTest.BetweenLMConvergence.Sim3ManifoldTest.BetweenLMConvergence: Failed

cuVSLAM Evaluation KPIs

Config	Dataset	ATE, %	ARE, º/m	Kabsch	Losts	diff ATE, %	diff ARE, º/m	diff Kabsch	diff Losts	FPS, Hz
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_ODOM	1.6476	0.1493	0.0950	0	-0.0033	-0.0002	0.0005	0	122.6
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_SLAM	1.7811	0.1923	0.0591	0	-0.0038	-0.0003	-0.0005	0	98.2
x86_64-cuda12.6.3-ubuntu24.04	ICL_NUIM-RGBD_ODOM	1.9832	0.3792	0.0306	0	0.3345	0.0495	0.0057	0	71.1
x86_64-cuda12.6.3-ubuntu24.04	ICL_NUIM-RGBD_SLAM	1.5753	0.2975	0.0230	0	0.0718	0.0018	0.0018	0	67.1
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_ODOM	0.8207	0.0023	2.8284	0	-0.0003	-0.0000	-0.0382	0	247.1
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_SLAM	0.7333	0.0020	1.9299	0	0.0056	0.0000	0.0150	0	175.1

Artifacts

• docs-html
• test-results-x86_64
• test-results-thor
• eval-kpis-pr
• eval-html-report
• test-results-orin