CI: use ubuntu arm runners instead of QEMU (#1771)

* CI: use ubuntu arm runners instead of QEMU * removed focal deps docker image ci * run tests in docker ci * revert temporary test * trigger ci jobs with modified files * ldconfig * arm64 ldconfig order * No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0. * fixing ExtractXYZCorrespondencesRANSAC ci error * increased windows timeout (probably caused by gftt fix now extracting more features)
2026-10-05 01:27:46 +08:00 · 2026-09-22 14:41:07 -07:00
parent 9ed83a71db
commit 16fb2f0541
30 changed files with 719 additions and 278 deletions
@@ -0,0 +1,93 @@
+name: android
+
+# Android build environments (docker/noble/android/rtabmap_apiXX).
+# amd64 only, so a single native runner and no manifest juggling.
+# Note: these build FROM introlab3it/rtabmap:android-noble-deps, which is not
+# produced by any workflow; it is still built and pushed by hand.
+
+on:
+  push:
+    branches:
+      - 'master'
+    paths: &android_paths
+      # What an Android build actually compiles: CMakeLists.txt adds only
+      # utilite, corelib and app under IF(ANDROID), and rtabmap.bash builds with
+      # WITH_OPENGV=OFF, BUILD_EXAMPLES=OFF, BUILD_TOOLS=OFF.
+      - 'CMakeLists.txt'
+      - 'Version.h.in'
+      - 'RTABMapConfig.cmake.in'
+      - 'cmake_uninstall.cmake.in'
+      - 'cmake_modules/**'
+      - 'utilite/**'
+      - 'corelib/**'
+      - 'app/**'
+      - 'docker/noble/android/**'
+      - '.github/workflows/android.yml'
+  pull_request:
+    branches:
+      - '**'
+    paths: *android_paths
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  docker:
+    # A manual dispatch is honored only on master, the only ref we push from.
+    if: ${{ github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master' }}
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [android23, android24, android26, android30]
+        include:
+        - docker_tag: android23
+          docker_tags: |
+            introlab3it/rtabmap:android23
+            introlab3it/rtabmap:tango
+          api_version: 23
+        - docker_tag: android24
+          docker_tags: |
+            introlab3it/rtabmap:android24
+          api_version: 24
+        - docker_tag: android26
+          docker_tags: |
+            introlab3it/rtabmap:android26
+          api_version: 26
+        - docker_tag: android30
+          docker_tags: |
+            introlab3it/rtabmap:android30
+          api_version: 30
+
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: ${{ github.event_name != 'pull_request' }}
+          platforms: linux/amd64
+          file: ./docker/noble/android/rtabmap_apiXX/Dockerfile
+          build-args: |
+            API_VERSION=${{ matrix.api_version }}
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline