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Windows CI: more sensor drivers + Windows/macOS bundle scripts

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This commit is contained in:
matlabbe
2026-06-29 19:23:25 -07:00
parent 9d30b174e6
commit 36d851e349
24 changed files with 1162 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch
+41
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@@ -0,0 +1,41 @@
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
index 6b0b44f98..672c26402 100644
--- a/cmake/depthaiDependencies.cmake
+++ b/cmake/depthaiDependencies.cmake
@@ -17,7 +17,9 @@ else()
hunter_add_package(FP16)
hunter_add_package(libarchive-luxonis)
hunter_add_package(spdlog)
- hunter_add_package(ZLIB)
+ # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
+ # zlib fork fails to build against the modern macOS SDK). Found below via
+ # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
if(DEPTHAI_ENABLE_BACKWARD)
hunter_add_package(Backward)
endif()
@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
# libarchive for firmware packages
find_package(archive_static ${_QUIET} CONFIG REQUIRED)
find_package(lzma ${_QUIET} CONFIG REQUIRED)
- # ZLIB for compressing Apps
- find_package(ZLIB CONFIG REQUIRED)
+ # ZLIB for compressing Apps.
+ # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
+ # zlib fork fails to build against the modern macOS SDK, and Hunter also
+ # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
+ # we locate it manually and expose the ZLIB::zlib target depthai expects.
+ find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
+ find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
+ if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
+ message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
+ endif()
+ if(NOT TARGET ZLIB::zlib)
+ add_library(ZLIB::zlib UNKNOWN IMPORTED)
+ set_target_properties(ZLIB::zlib PROPERTIES
+ IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
+ INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
+ )
+ endif()
# spdlog for library and device logging
find_package(spdlog ${_QUIET} CONFIG REQUIRED)
.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch
+83
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@@ -0,0 +1,83 @@
diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index b3b4f66b6..651cd1009 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -59,7 +59,12 @@ else()
endif()
# Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
+# to a dedicated Eigen/Version header, so check the new location first.
+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
+if (NOT EXISTS ${EIGEN_VER_H})
+ set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
+endif()
if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index cfedf6d8c..9c9771407 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
using Matrix8##N = Eigen::Matrix<double, 8, N>; \
using Matrix9##N = Eigen::Matrix<double, 9, N>; \
static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
GTSAM_MAKE_MATRIX_DEFS(1)
GTSAM_MAKE_MATRIX_DEFS(2)
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index f7923ff88..5410393f6 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -27,6 +27,7 @@
#include <gtsam/global_includes.h>
#include <Eigen/Core>
+#include <cassert>
#include <iosfwd>
#include <list>
@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
typedef Eigen::Vector2d Vector2;
typedef Eigen::Vector3d Vector3;
-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
// Create handy typedefs and constants for vectors with N>3
// VectorN and Z_Nx1, for N=1..9
#define GTSAM_MAKE_VECTOR_DEFS(N) \
using Vector##N = Eigen::Matrix<double, N, 1>; \
- static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
+ static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
GTSAM_MAKE_VECTOR_DEFS(4)
GTSAM_MAKE_VECTOR_DEFS(5)
diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
index 22f65b8de..20a0c936e 100644
--- a/gtsam/linear/iterative.h
+++ b/gtsam/linear/iterative.h
@@ -61,7 +61,7 @@ namespace gtsam {
/** Apply operator A'*e */
Vector operator^(const Vector& e) const {
- return A_ ^ e;
+ return gtsam::operator^(A_, e);
}
/**
@@ -71,7 +71,7 @@ namespace gtsam {
/** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
Vector gradient(const Vector& x) const {
- return A() ^ (A() * x - b());
+ return gtsam::operator^(A(), Vector(A() * x - b()));
}
/** Apply operator A */
.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch
+87
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@@ -0,0 +1,87 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a5f0c44..69340e4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -78,18 +78,18 @@ elseif ()
endif ()
endif ()
-# enable C++11 support.
+# enable C++14 support (required by recent Eigen versions).
if (CMAKE_VERSION VERSION_LESS "3.1")
if (MSVC)
message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
endif ()
if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
- set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
else ()
- set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
endif ()
else ()
- set (CMAKE_CXX_STANDARD 11)
+ set (CMAKE_CXX_STANDARD 14)
endif ()
#======================== External Dependencies ===============================
diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
index 302b672..d63fcd3 100644
--- a/experimental/kdtree_cpu.cpp
+++ b/experimental/kdtree_cpu.cpp
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo_experimental.h"
#include "../nabo/index_heap.h"
+#include <cassert>
#include <iostream>
#include <stdexcept>
#include <limits>
diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
index cb1f8d1..52a444f 100644
--- a/nabo/kdtree_cpu.cpp
+++ b/nabo/kdtree_cpu.cpp
@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <queue>
#include <algorithm>
#include <utility>
+#include <cassert>
#ifdef HAVE_OPENMP
#include <omp.h>
#endif
diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
index 5a9fee2..fb1345f 100644
--- a/nabo/kdtree_opencl.cpp
+++ b/nabo/kdtree_opencl.cpp
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo_private.h"
#include "index_heap.h"
+#include <cassert>
#include <iostream>
#include <sstream>
#include <fstream>
diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
index 6f4d3fc..c612378 100644
--- a/tests/knnshow.cpp
+++ b/tests/knnshow.cpp
@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "nabo/nabo.h"
+#include <cassert>
#include <iostream>
#include <fstream>
#include <stdexcept>
diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
index 2430249..2a7dcc4 100644
--- a/tests/knnvalidate.cpp
+++ b/tests/knnvalidate.cpp
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo/nabo.h"
#include "helpers.h"
//#include "experimental/nabo_experimental.h"
+#include <cassert>
#include <iostream>
#include <fstream>
#include <stdexcept>
.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch
+32
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@@ -0,0 +1,32 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9dabfd0..7b73418 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,9 +128,9 @@ endif()
#--------------------
# DEPENDENCY: boost
#--------------------
-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
+find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
if (Boost_MINOR_VERSION GREATER 47)
- find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
+ find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
endif ()
#--------------------
diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
index 6de2c85..7c887fd 100644
--- a/libpointmatcherConfig.cmake.in
+++ b/libpointmatcherConfig.cmake.in
@@ -7,9 +7,9 @@
include(CMakeFindDependencyMacro)
find_dependency(libnabo REQUIRED)
find_dependency(yaml-cpp REQUIRED)
-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
+find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
if (Boost_MINOR_VERSION GREATER 47)
- find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
+ find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
endif ()
include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch
+29
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@@ -0,0 +1,29 @@
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 261f2cda..644e068f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
- install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
+ install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
include(CMakePackageConfigHelpers)
+ # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
+ # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
+ # discovers it in config mode and reads its version.
write_basic_package_version_file(
- "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
+ "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
VERSION "${PROJECT_VERSION}"
COMPATIBILITY SameMajorVersion
)
install(
- FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
- DESTINATION lib
+ FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
+ DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
)
if(MSVC)
install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)