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Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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liyang
2026-09-15 14:13:49 +08:00
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third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/ci/README.md
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## Eigen CI infrastructure
Eigen's CI infrastructure uses two stages: A `build` stage to build the unit-test
suite and a `test` stage to run the unit-tests.
### Build Stage
The build stage consists of the following jobs:
| Job Name | Arch | OS | Compiler | C++11 |
|------------------------------------------|-----------|----------------|------------|---------|
| `build:x86-64:linux:gcc-4.8:cxx11-on` | `x86-64` | `Ubuntu 18.04` | `GCC-4.8` | `On` |
| `build:x86-64:linux:gcc-9:cxx11-on` | `x86-64` | `Ubuntu 18.04` | `GCC-9` | `On` |
| `build:x86-64:linux:gcc-10:cxx11-on` | `x86-64` | `Ubuntu 18.04` | `GCC-10` | `On` |
| `build:x86-64:linux:clang-10:cxx11-on` | `x86-64` | `Ubuntu 18.04` | `Clang-10` | `On` |
| `build:aarch64:linux:gcc-10:cxx11-on` | `AArch64` | `Ubuntu 18.04` | `GCC-10` | `On` |
| `build:aarch64:linux:clang-10:cxx11-on` | `AArch64` | `Ubuntu 18.04` | `Clang-10` | `On` |
### Test stage
In principle every build-job has a corresponding test-job, however testing supported and unsupported modules is divided into separate jobs. The test jobs in detail:
### Job dependecies
| Job Name | Arch | OS | Compiler | C++11 | Module
|-----------------------------------------------------|-----------|----------------|------------|---------|--------
| `test:x86-64:linux:gcc-4.8:cxx11-on:official` | `x86-64` | `Ubuntu 18.04` | `GCC-4.8` | `On` | `Official`
| `test:x86-64:linux:gcc-4.8:cxx11-on:unsupported` | `x86-64` | `Ubuntu 18.04` | `GCC-4.8` | `On` | `Unsupported`
| `test:x86-64:linux:gcc-9:cxx11-on:official` | `x86-64` | `Ubuntu 18.04` | `GCC-9` | `On` | `Official`
| `test:x86-64:linux:gcc-9:cxx11-on:unsupported` | `x86-64` | `Ubuntu 18.04` | `GCC-9` | `On` | `Unsupported`
| `test:x86-64:linux:gcc-10:cxx11-on:official` | `x86-64` | `Ubuntu 18.04` | `GCC-10` | `On` | `Official`
| `test:x86-64:linux:gcc-10:cxx11-on:unsupported` | `x86-64` | `Ubuntu 18.04` | `GCC-10` | `On` | `Unsupported`
| `test:x86-64:linux:clang-10:cxx11-on:official` | `x86-64` | `Ubuntu 18.04` | `Clang-10` | `On` | `Official`
| `test:x86-64:linux:clang-10:cxx11-on:unsupported` | `x86-64` | `Ubuntu 18.04` | `Clang-10` | `On` | `Unsupported`
| `test:aarch64:linux:gcc-10:cxx11-on:official` | `AArch64` | `Ubuntu 18.04` | `GCC-10` | `On` | `Official`
| `test:aarch64:linux:gcc-10:cxx11-on:unsupported` | `AArch64` | `Ubuntu 18.04` | `GCC-10` | `On` | `Unsupported`
| `test:aarch64:linux:clang-10:cxx11-on:official` | `AArch64` | `Ubuntu 18.04` | `Clang-10` | `On` | `Official`
| `test:aarch64:linux:clang-10:cxx11-on:unsupported` | `AArch64` | `Ubuntu 18.04` | `Clang-10` | `On` | `Unsupported`
third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/ci/build.gitlab-ci.yml
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.build:linux:base:
stage: build
image: ubuntu:18.04
before_script:
- apt-get update -y
- apt-get install -y --no-install-recommends software-properties-common
- add-apt-repository -y ppa:ubuntu-toolchain-r/test
- apt-get update
- apt-get install --no-install-recommends -y ${EIGEN_CI_CXX_COMPILER}
${EIGEN_CI_CC_COMPILER} cmake ninja-build
script:
- mkdir -p ${BUILDDIR} && cd ${BUILDDIR}
- CXX=${EIGEN_CI_CXX_COMPILER} CC=${EIGEN_CI_CC_COMPILER} cmake -G
${EIGEN_CI_CMAKE_GENEATOR} -DEIGEN_TEST_CXX11=${EIGEN_TEST_CXX11}
${EIGEN_CI_ADDITIONAL_ARGS} ..
- cmake --build . --target buildtests
artifacts:
name: "$CI_JOB_NAME-$CI_COMMIT_REF_NAME"
paths:
- ${BUILDDIR}/
expire_in: 5 days
only:
- schedules
######## x86-64 ################################################################
# GCC-4.8 (the oldest compiler we support)
build:x86-64:linux:gcc-4.8:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-4.8"
EIGEN_CI_CC_COMPILER: "gcc-4.8"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- x86-64
# GCC-9
build:x86-64:linux:gcc-9:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-9"
EIGEN_CI_CC_COMPILER: "gcc-9"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- x86-64
# GCC-10
build:x86-64:linux:gcc-10:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-10"
EIGEN_CI_CC_COMPILER: "gcc-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- x86-64
# Clang-10
build:x86-64:linux:clang-10:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "clang++-10"
EIGEN_CI_CC_COMPILER: "clang-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- x86-64
######## AArch64 ###############################################################
# GCC-10
build:aarch64:linux:gcc-10:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-10"
EIGEN_CI_CC_COMPILER: "gcc-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- aarch64
# Clang-10
build:aarch64:linux:clang-10:cxx11-on:
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "clang++-10"
EIGEN_CI_CC_COMPILER: "clang-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- aarch64
######## ppc64le ###############################################################
# Currently all ppc64le jobs are allowed to fail
# GCC-10
build:ppc64le:linux:gcc-10:cxx11-on:
allow_failure: true
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-10"
EIGEN_CI_CC_COMPILER: "gcc-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- ppc64le
# Clang-10
build:ppc64le:linux:clang-10:cxx11-on:
allow_failure: true
extends: .build:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "clang++-10"
EIGEN_CI_CC_COMPILER: "clang-10"
EIGEN_TEST_CXX11: "on"
tags:
- eigen-runner
- linux
- ppc64le
third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/ci/smoketests.gitlab-ci.yml
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.buildsmoketests:linux:base:
stage: buildsmoketests
image: ubuntu:18.04
before_script:
- apt-get update -y
- apt-get install -y --no-install-recommends software-properties-common
- add-apt-repository -y ppa:ubuntu-toolchain-r/test
- apt-get update
- apt-get install --no-install-recommends -y ${EIGEN_CI_CXX_COMPILER}
${EIGEN_CI_CC_COMPILER} cmake ninja-build
script:
- mkdir -p ${BUILDDIR} && cd ${BUILDDIR}
- CXX=${EIGEN_CI_CXX_COMPILER} CC=${EIGEN_CI_CC_COMPILER} cmake -G
${EIGEN_CI_CMAKE_GENEATOR} -DEIGEN_TEST_CXX11=${EIGEN_TEST_CXX11}
${EIGEN_CI_ADDITIONAL_ARGS} ..
- cmake --build . --target buildsmoketests
artifacts:
name: "$CI_JOB_NAME-$CI_COMMIT_REF_NAME"
paths:
- ${BUILDDIR}/
expire_in: 5 days
only:
- merge_requests
buildsmoketests:x86-64:linux:gcc-10:cxx11-on:
extends: .buildsmoketests:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "g++-10"
EIGEN_CI_CC_COMPILER: "gcc-10"
EIGEN_TEST_CXX11: "on"
buildsmoketests:x86-64:linux:clang-10:cxx11-on:
extends: .buildsmoketests:linux:base
variables:
EIGEN_CI_CXX_COMPILER: "clang++-10"
EIGEN_CI_CC_COMPILER: "clang-10"
EIGEN_TEST_CXX11: "on"
.smoketests:linux:base:
stage: smoketests
image: ubuntu:18.04
before_script:
- apt-get update -y
- apt-get install -y --no-install-recommends software-properties-common
- add-apt-repository -y ppa:ubuntu-toolchain-r/test
- apt-get update
- apt-get install --no-install-recommends -y ${EIGEN_CI_CXX_COMPILER}
${EIGEN_CI_CC_COMPILER} cmake ninja-build xsltproc
script:
- export CXX=${EIGEN_CI_CXX_COMPILER}
- export CC=${EIGEN_CI_CC_COMPILER}
- cd ${BUILDDIR} && ctest --output-on-failure --no-compress-output
--build-no-clean -T test -L smoketest
after_script:
- apt-get update -y
- apt-get install --no-install-recommends -y xsltproc
- cd ${BUILDDIR}
- xsltproc ../ci/CTest2JUnit.xsl Testing/`head -n 1 < Testing/TAG`/Test.xml > "JUnitTestResults_$CI_JOB_ID.xml"
artifacts:
reports:
junit:
- ${BUILDDIR}/JUnitTestResults_$CI_JOB_ID.xml
expire_in: 5 days
only:
- merge_requests
smoketests:x86-64:linux:gcc-10:cxx11-on:
extends: .smoketests:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-10
EIGEN_CI_CC_COMPILER: gcc-10
needs: [ "buildsmoketests:x86-64:linux:gcc-10:cxx11-on" ]
smoketests:x86-64:linux:clang-10:cxx11-on:
extends: .smoketests:linux:base
variables:
EIGEN_CI_CXX_COMPILER: clang++-10
EIGEN_CI_CC_COMPILER: clang-10
needs: [ "buildsmoketests:x86-64:linux:clang-10:cxx11-on" ]
third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/ci/test.gitlab-ci.yml
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.test:linux:base:
stage: test
image: ubuntu:18.04
retry: 2
before_script:
- apt-get update -y
- apt-get install -y --no-install-recommends software-properties-common
- add-apt-repository -y ppa:ubuntu-toolchain-r/test
- apt-get update
- apt-get install --no-install-recommends -y ${EIGEN_CI_CXX_COMPILER}
${EIGEN_CI_CC_COMPILER} cmake ninja-build xsltproc
script:
- export CXX=${EIGEN_CI_CXX_COMPILER}
- export CC=${EIGEN_CI_CC_COMPILER}
- cd ${BUILDDIR} && ctest --output-on-failure --no-compress-output
--build-no-clean -T test -L ${EIGEN_CI_TEST_LABEL}
after_script:
- apt-get update -y
- apt-get install --no-install-recommends -y xsltproc
- cd ${BUILDDIR}
- xsltproc ../ci/CTest2JUnit.xsl Testing/`head -n 1 < Testing/TAG`/Test.xml > "JUnitTestResults_$CI_JOB_ID.xml"
artifacts:
reports:
junit:
- ${BUILDDIR}/JUnitTestResults_$CI_JOB_ID.xml
expire_in: 5 days
only:
- schedules
##### x86-64 ###################################################################
# GCC-4.8
.test:x86-64:linux:gcc-4.8:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-4.8
EIGEN_CI_CC_COMPILER: gcc-4.8
needs: [ "build:x86-64:linux:gcc-4.8:cxx11-on" ]
tags:
- eigen-runner
- linux
- x86-64
test:x86-64:linux:gcc-4.8:cxx11-on:official:
extends: .test:x86-64:linux:gcc-4.8:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:x86-64:linux:gcc-4.8:cxx11-on:unsupported:
extends: .test:x86-64:linux:gcc-4.8:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
# GCC-9
.test:x86-64:linux:gcc-9:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-9
EIGEN_CI_CC_COMPILER: gcc-9
needs: [ "build:x86-64:linux:gcc-9:cxx11-on" ]
tags:
- eigen-runner
- linux
- x86-64
test:x86-64:linux:gcc-9:cxx11-on:official:
extends: .test:x86-64:linux:gcc-9:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:x86-64:linux:gcc-9:cxx11-on:unsupported:
extends: .test:x86-64:linux:gcc-9:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
# GCC-10
.test:x86-64:linux:gcc-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-10
EIGEN_CI_CC_COMPILER: gcc-10
needs: [ "build:x86-64:linux:gcc-10:cxx11-on" ]
tags:
- eigen-runner
- linux
- x86-64
test:x86-64:linux:gcc-10:cxx11-on:official:
extends: .test:x86-64:linux:gcc-10:cxx11-on
allow_failure: true
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:x86-64:linux:gcc-10:cxx11-on:unsupported:
extends: .test:x86-64:linux:gcc-10:cxx11-on
allow_failure: true
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
# Clang 10
.test:x86-64:linux:clang-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: clang++-10
EIGEN_CI_CC_COMPILER: clang-10
needs: [ "build:x86-64:linux:clang-10:cxx11-on" ]
tags:
- eigen-runner
- linux
- x86-64
test:x86-64:linux:clang-10:cxx11-on:official:
extends: .test:x86-64:linux:clang-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:x86-64:linux:clang-10:cxx11-on:unsupported:
extends: .test:x86-64:linux:clang-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
##### AArch64 ##################################################################
# GCC-10
.test:aarch64:linux:gcc-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-10
EIGEN_CI_CC_COMPILER: gcc-10
needs: [ "build:aarch64:linux:gcc-10:cxx11-on" ]
tags:
- eigen-runner
- linux
- aarch64
test:aarch64:linux:gcc-10:cxx11-on:official:
extends: .test:aarch64:linux:gcc-10:cxx11-on
allow_failure: true
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:aarch64:linux:gcc-10:cxx11-on:unsupported:
extends: .test:aarch64:linux:gcc-10:cxx11-on
allow_failure: true
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
# Clang 10
.test:aarch64:linux:clang-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: clang++-10
EIGEN_CI_CC_COMPILER: clang-10
needs: [ "build:aarch64:linux:clang-10:cxx11-on" ]
tags:
- eigen-runner
- linux
- aarch64
test:aarch64:linux:clang-10:cxx11-on:official:
extends: .test:aarch64:linux:clang-10:cxx11-on
allow_failure: true
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:aarch64:linux:clang-10:cxx11-on:unsupported:
extends: .test:aarch64:linux:clang-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
##### ppc64le ##################################################################
# GCC-10
.test:ppc64le:linux:gcc-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: g++-10
EIGEN_CI_CC_COMPILER: gcc-10
needs: [ "build:ppc64le:linux:gcc-10:cxx11-on" ]
allow_failure: true
tags:
- eigen-runner
- linux
- ppc64le
test:ppc64le:linux:gcc-10:cxx11-on:official:
extends: .test:ppc64le:linux:gcc-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:ppc64le:linux:gcc-10:cxx11-on:unsupported:
extends: .test:ppc64le:linux:gcc-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"
# Clang 10
.test:ppc64le:linux:clang-10:cxx11-on:
extends: .test:linux:base
variables:
EIGEN_CI_CXX_COMPILER: clang++-10
EIGEN_CI_CC_COMPILER: clang-10
needs: [ "build:ppc64le:linux:clang-10:cxx11-on" ]
allow_failure: true
tags:
- eigen-runner
- linux
- ppc64le
test:ppc64le:linux:clang-10:cxx11-on:official:
extends: .test:ppc64le:linux:clang-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Official"
test:ppc64le:linux:clang-10:cxx11-on:unsupported:
extends: .test:ppc64le:linux:clang-10:cxx11-on
variables:
EIGEN_CI_TEST_LABEL: "Unsupported"