Expand CI coverage across platforms

[ethanmusser]

Make some improvements to CI:

• Update the build workflows to exercise the newer BUILD_OPENCV flag (which breaks some things).
• Parameterize the CI build workflows and build for a more comprehensive list of platforms, compilers, linkages, build types, configurations, etc.
• Add a consumer test to the build workflows to ensure that the library can be properly consumed.
• Bump the vcpkg baseline version to the recent 2026.04.27 release.

Implementation Details

All Workflows

The OS-specific build is broken out to a distinct workflow with parameters dictating the build configuration. See the .github/workflows/build-*.yml files.

Windows Workflows

The dependencies for these are built with vcpkg, and that build can take a long time. There is an additional build-windows-vcpkg-dependencies.yml which performs a single, common build of the dependencies then caches them. These cached dependencies are then downloaded to each Windows runner. The cached dependencies are only rebuilt when either of the vcpkg.json or the vcpkg-configuration.json files are modified.

As a result, the first-time the CI runs there will be an hour-long run to build these dependencies, but all subsequent builds should be much faster.

Comprehensive List of Checks

Build/Install/Consume

These check whether the software builds on this OS/compiler/build configuration, runs the unit test suite, and then attempts to build a toy project that depends on the

Build OS	Target OS (blank if same)	API	Compiler	Build Type	Linkage	JSON Serialization/OpenCV	Python Bindings
macOS Latest	--	Modern	Apple Clang	Release	Shared	Y	Y
macOS Latest	--	Modern	Apple Clang	Release	Static	Y	Y
macOS Latest	--	Modern	Brew LLVM	Release	Shared	Y	Y
Ubuntu 22.04	--	Modern	GCC	Release	Shared	Y	Y
Ubuntu 24.04	--	Legacy	GCC	Release	Shared	Y	N
Ubuntu 24.04	--	Legacy	GCC	Release	Static	Y	N
Ubuntu 24.04	--	Modern	Clang	Debug	Shared	Y	Y
Ubuntu 24.04	--	Modern	Clang	Release	Shared	Y	Y
Ubuntu 24.04	--	Modern	GCC	Debug	Shared	Y	Y
Ubuntu 24.04	--	Modern	GCC	Debug	Shared	N	N
Ubuntu 24.04	--	Modern	GCC	Debug	Static	Y	Y
Ubuntu 24.04	--	Modern	GCC	Debug	Static	N	N
Ubuntu 24.04	--	Modern	GCC	Release	Shared	Y	Y
Ubuntu 24.04	--	Modern	GCC	Release	Shared	N	N
Ubuntu 24.04	--	Modern	GCC	Release	Static	Y	Y
Ubuntu 24.04	--	Modern	GCC	Release	Static	N	N
Ubuntu 24.04	Android 24 (arm64-v8a)	Modern	GCC	Release	Shared	N	N
Windows (2022)	--	Modern	Clang-cl	Release	Shared	Y	Y
Windows (2022)	--	Modern	MSVC	Release	Shared	Y	Y
Windows (2022)	--	Modern	MSVC	Release	Static	Y	Y

Miscellaneous

These are additional checks that perform a specific task.

• Address Sanitizer (Ubuntu 24.04, Modern API, GCC, Debug, Shared, Y, N)
• Code Coverage (Ubuntu 24.04, Modern API, GCC, Debug, Shared, Y, N)

Notes

• In general, I think this is the minimal set of builds that can comprehensively cover intended library target platforms and build configurations. The majority of build configurations are checked on Ubuntu runners, with just the essential configurations run for Windows, macOS, and Android. WE could probably cut out some of the additional compilers if need be, but they may be important for testing things like MULTISENSE_API usage of _MSC_VER where _WIN32 would be more apt #300.
• There is an additional "keep alive" workflow that periodically hits the vcpkg binary cache. This runs twice a week, which should avoid the 7-day expiry imposed by GitHub. Long-term, this cache should be moved somewhere more permanent that does not impose such a constraint. EDIT: This expiration has been extended to 30-days for this repository.

Future TODOs

• Fix the OpenCV header propagation issue. (Fixed by Explicit CMake dependency propagation #299)
• Update the release.yml workflow to instead use the parameterized build workflows.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

📢 Thoughts on this report? Let us know!

[mattalvarado]

Thanks for doing this!

[ethanmusser]

Thanks for doing this!

Happy to!

FYI won't let me merge since the old CI status checks never ran (since they don't exist anymore). Might need to disable those specific status checks in the repo settings. Or maybe just need somebody with maintainer rights to make the merge.