Refined P3P solver, and a new implementation for rel_pose_upright_3pt #89

	name: Build PoseLib

	on:
	pull_request:
	branches:
	- '**'

	env:
	BUILD_CONFIGURATION: Release
	LIBRARY_TYPE: OFF # Static libraries
	BUILD_DIR: _build
	INSTALL_DIR: _install

	jobs:
	CI-pipeline:
	runs-on: ubuntu-latest

	steps:
	- uses: actions/checkout@v3
	with:
	# Fetches all submodules recursively.
	submodules: 'recursive'

	- name: Install Eigen3 Dependency
	run: \|
	sudo apt-get update && \
	sudo apt-get install -y libeigen3-dev clang-format

	- name: Check formatting using clang-format
	run: \|
	git ls-files \| grep -E '\.(cc\|h)$' \| xargs clang-format -i --verbose
	git diff --exit-code \|\| (echo "Code format check failed, run clang-format to fix it." && exit 1)


	- name: Setup CMake Configuration
	run: \|
	cmake \
	-B ${{github.workspace}}/${{env.BUILD_DIR}} \
	-DWITH_BENCHMARK=ON \
	-DCMAKE_BUILD_TYPE=${{env.BUILD_CONFIGURATION}} \
	-DBUILD_SHARED_LIBS=${{env.LIBRARY_TYPE}} \
	-DPYTHON_PACKAGE=ON \
	-DCMAKE_INSTALL_PREFIX=${{github.workspace}}/${{env.INSTALL_DIR}}

	- name: Compile and Install
	run: \|
	cmake \
	--build ${{github.workspace}}/${{env.BUILD_DIR}} \
	--target install \
	-j $(nproc)

	- name: Execute Benchmark
	run: ${{github.workspace}}/${{env.INSTALL_DIR}}/bin/benchmark

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