Add Essential Matrix Optimization #4437

	name: Unit tests and python checks

	on: [pull_request, workflow_dispatch]

	jobs:
	run-unit-tests:
	name: Run all unit tests in code base
	runs-on: ubuntu-latest
	defaults:
	run:
	shell: bash -l {0}

	env:
	PYTHON_VERSION: 3.8

	steps:
	- uses: actions/[email protected]
	- uses: conda-incubator/setup-miniconda@v3
	with:
	mamba-version: "*"
	activate-environment: gtsfm-v1
	environment-file: environment_linux_cpuonly.yml
	python-version: 3.8
	- name: Environment setup
	run: \|
	bash .github/scripts/setup.sh
	pip install pytest-cov
	pip install flake8
	conda info
	- name: Flake check
	run: \|
	flake8 --max-line-length 120 --ignore E201,E202,E203,E231,W291,W293,E303,W391,E402,W503,E731 gtsfm tests
	- name: Unit tests
	run: \|
	pytest tests --cov gtsfm \
	--ignore tests/repro_tests \
	--ignore tests/loader/test_argoverse_dataset_loader.py \
	--ignore tests/runner/test_frontend_runner.py
	coverage report
	- name: React-Three-Fiber app tests
	run: \|
	cd rtf_vis_tool && npm install --legacy-peer-deps && npm test a

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