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[infra] Run cuNLS tests in PR CI - #167

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vikuznetsov/enable-cunls-pr-tests
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[infra] Run cuNLS tests in PR CI#167
vikuznetsov-nvidia wants to merge 3 commits into
mainfrom
vikuznetsov/enable-cunls-pr-tests

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@vikuznetsov-nvidia

@vikuznetsov-nvidia vikuznetsov-nvidia commented Sep 16, 2026 •
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TEST

Summary by CodeRabbit

  • Tests

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

  • Chores

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

@coderabbitai

coderabbitai Bot commented Sep 16, 2026 •
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Review in Change Stack →

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No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info
⚙️ Run configuration

Configuration used: Repository: nvidia-isaac/cuVSLAM/.coderabbit.yaml

Review profile: ASSERTIVE

Plan: Enterprise

Run ID: 9dbea5d9-e48b-46c2-8e42-e138ed6700d2

📥 Commits

Reviewing files that changed from the base of the PR and between 0522f46 and 35d2df9.

📒 Files selected for processing (3)
  • cmake/ext/cunls.cmake
  • libs/pnp/multisensor_pose_estimator.cpp
  • libs/utils/test/cunls_smoke_test.cpp

Included review availability: This review used your included allowance. Your plan provides up to 12 included reviews per hour; 11 remain after this review.

📝 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. Two source files update cuNLS factor-header includes. 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.
cuNLS factor include updates
libs/pnp/multisensor_pose_estimator.cpp, libs/utils/test/cunls_smoke_test.cpp		 The pose estimator reorders factor-batch includes. The smoke test uses the qualified prior-vector factor include path.
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 35d2d

The three verification jobs enable and run the cuNLS tests, and the updated headers resolve against the pinned dependency. No merge-blocking risk was identified.

🚥 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 2…
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
📝 Generate docstrings
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🧪 Generate unit tests (beta)
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🛠️ Fix failing CI checks 💡
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github-actions Bot commented Sep 16, 2026 •
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Test Results

Status Platform Language Total Passed Failed Errors Skipped
✅ Orin C++ 399 399 0 0 0
✅ Orin Python 74 73 0 0 1
❌ Thor C++ 399 398 1 0 0
⚠️ Thor Python 0 0 0 0 0
⚠️ x86_64 C++ 0 0 0 0 0
⚠️ x86_64 Python 0 0 0 0 0
Failed tests

Thor / C++:

  • Sim3ManifoldTest.BetweenLMConvergence.Sim3ManifoldTest.BetweenLMConvergence: Failed

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@slepichev slepichev Awaiting requested review from slepichev slepichev is a code owner
@hrabeti-nvidia hrabeti-nvidia Awaiting requested review from hrabeti-nvidia hrabeti-nvidia is a code owner

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