Add optimizer tests.

.github/workflows/pytests.yml

@@ -53,3 +53,62 @@ jobs:
           source activate theseus
           python -m pytest tests/theseus_tests/geometry -m "not cudaext" 
           python -m pytest tests/torchlie_tests -m "not cudaext" 
+
+  test_optimizers:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.8, 3.9, 3.10.15]
+    steps:
+      - uses: actions/checkout@v4.1.3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5.2.0
+        with:
+          python-version: ${{ matrix.python-version }}
+      - uses: actions/checkout@v4.1.3
+      - name: Install suitesparse
+        run: |
+          sudo apt-get update && sudo apt-get install -y libsuitesparse-dev
+      - name: Create Conda env
+        run: |
+          wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh
+          /bin/bash ~/miniconda.sh -b -p ~/conda
+          export PATH=~/conda/bin:$PATH
+          conda create --name theseus python=${{ matrix.python-version }}
+          source activate theseus
+          pip install --progress-bar off --upgrade pip
+          pip install --progress-bar off --upgrade setuptools
+      - name: Install Torch
+        run: |
+          export PATH=~/conda/bin:$PATH
+          source activate theseus
+          pip install torch
+      - name: Build Baspacho GPU
+        run: |
+          sudo apt-get install -y libopenblas-pthread-dev
+          git clone https://github.com/facebookresearch/baspacho.git
+          cd baspacho
+          cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -DBLA_STATIC=ON \
+            -DBASPACHO_USE_CUBLAS=0 -DBUILD_SHARED_LIBS=OFF \
+            -DBASPACHO_BUILD_TESTS=OFF -DBASPACHO_BUILD_EXAMPLES=OFF
+          cmake --build build -- -j16
+      - name: Install torchlie and torchkin
+        run:  |
+          export PATH=~/conda/bin:$PATH
+          source activate theseus
+          cd torchlie
+          pip install -e .
+          cd ../torchkin
+          pip install -e .
+      - name: Install theseus without Baspacho
+        run: |
+          export PATH=~/conda/bin:$PATH
+          source activate theseus
+          pip install -e ".[dev]"
+      - name: Run Lie groups tests
+        run: |
+        export PATH=~/conda/bin:$PATH
+        source activate theseus
+        # the full baspacho test for CPU fails, we only run an abriged version in CI
+        python -m pytest tests/theseus_tests/optimizer -m "not cudaext" -k "not test_baspacho_solver_cpu_full"
+        python -m pytest tests/theseus_tests/test_theseus_layer.py -m "not cudaext"