diff --git a/.devcontainer/focal/Dockerfile b/.devcontainer/focal/Dockerfile index 841a7ff0..f0307e88 100644 --- a/.devcontainer/focal/Dockerfile +++ b/.devcontainer/focal/Dockerfile @@ -15,7 +15,5 @@ RUN set -ex && \ chmod 0440 /etc/sudoers.d/${USERNAME} RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME} - RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc - - +RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc diff --git a/.devcontainer/jammy/Dockerfile b/.devcontainer/jammy/Dockerfile index 83d58d64..1dd140ef 100644 --- a/.devcontainer/jammy/Dockerfile +++ b/.devcontainer/jammy/Dockerfile @@ -15,7 +15,5 @@ RUN set -ex && \ chmod 0440 /etc/sudoers.d/${USERNAME} RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME} - RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc - - +RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc diff --git a/.devcontainer/latest-deps-from-source/Dockerfile b/.devcontainer/latest-deps-from-source/Dockerfile index 941967ae..532c4d9a 100644 --- a/.devcontainer/latest-deps-from-source/Dockerfile +++ b/.devcontainer/latest-deps-from-source/Dockerfile @@ -34,6 +34,7 @@ RUN set -ex && \ RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc +RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /home/${USERNAME}/.bashrc WORKDIR /home/${USERNAME}/ diff --git a/.devcontainer/noble-kilted/Dockerfile b/.devcontainer/noble-kilted/Dockerfile new file mode 100644 index 00000000..2201fb5a --- /dev/null +++ b/.devcontainer/noble-kilted/Dockerfile @@ -0,0 +1,20 @@ +FROM introlab3it/rtabmap:noble-kilted-deps +# remove ubuntu user +RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu + +RUN apt-get update && apt-get install -y sudo && \ + apt-get clean && rm -rf /var/lib/apt/lists/ + +ARG USERNAME=vscode +ARG USER_UID=1000 +ARG USER_GID=1000 + +RUN set -ex && \ + groupadd --gid ${USER_GID} ${USERNAME} && \ + useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \ + usermod -a -G sudo ${USERNAME} && \ + echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \ + chmod 0440 /etc/sudoers.d/${USERNAME} + +RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc +RUN echo 'source /opt/ros/kilted/setup.bash' >> /home/${USERNAME}/.bashrc diff --git a/.devcontainer/noble-kilted/devcontainer.json b/.devcontainer/noble-kilted/devcontainer.json new file mode 100644 index 00000000..724f0974 --- /dev/null +++ b/.devcontainer/noble-kilted/devcontainer.json @@ -0,0 +1,17 @@ +{ + "build": { + "dockerfile": "Dockerfile" + }, + "customizations": { + "vscode": { + "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"] + } + }, + "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind", + "workspaceFolder": "/home/vscode/rtabmap", + "settings": { + "terminal.integrated.defaultProfile.linux": "bash" + }, + "remoteUser": "vscode", + "runArgs": ["--privileged"] +} diff --git a/.devcontainer/noble/Dockerfile b/.devcontainer/noble/Dockerfile index 84792a66..6f7ec5b0 100644 --- a/.devcontainer/noble/Dockerfile +++ b/.devcontainer/noble/Dockerfile @@ -19,7 +19,5 @@ RUN set -ex && \ chmod 0440 /etc/sudoers.d/${USERNAME} RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME} - RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc - - +RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc diff --git a/.devcontainer/rolling/Dockerfile b/.devcontainer/rolling/Dockerfile index 576b75fe..c58fd852 100644 --- a/.devcontainer/rolling/Dockerfile +++ b/.devcontainer/rolling/Dockerfile @@ -77,4 +77,4 @@ RUN set -ex && \ RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME} RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc - +RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc diff --git a/.dockerignore b/.dockerignore index 1badba74..08902f6d 100644 --- a/.dockerignore +++ b/.dockerignore @@ -1,2 +1,10 @@ build/* build_* + +data/tests/*.db +data/tests/*.7z +data/tests/*.zip +data/tests/*.pt +data/tests/*.pth +data/tests/*.py +data/tests/__pycache__/ diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 00000000..834f39c7 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,53 @@ +# This repository has a historical mix of CRLF and LF files. Letting git convert +# line endings (core.autocrlf, or a "text=auto" policy) would rewrite whole files +# on checkout/commit and bury real changes under thousands of ending-only diff +# lines -- and it would do so at unpredictable times, on whichever file happens +# to be touched next. Keep every file's bytes exactly as committed. +# +# This also keeps LF-only files LF on Windows checkouts, which data/tests/manifest.txt +# relies on: scripts/fetch_test_data.sh tab-splits it and a trailing CR breaks SHA +# matching. No per-file exception is needed for that. +# +# Note this does not stop an editor or script from rewriting a file's endings; it +# only stops git from doing it. +* -text + +# ----------------------------------------------------------------------------- +# Migrating to the standard LF policy (a future MR, on its own) +# ----------------------------------------------------------------------------- +# LF is what git stores natively and what essentially every C++ project on GitHub +# uses (LLVM, OpenCV, PCL, Qt). The rule above only freezes the current mix; it is +# a holding position, not the destination. To finish the job: +# +# 1. Replace the `* -text` line above with: +# +# * text=auto +# # Files that must stay LF even in a Windows working tree: +# *.sh text eol=lf +# *.bash text eol=lf +# +# (`text=auto` = store LF in the repo, check out native line endings.) +# +# 2. Rewrite the working tree and stage it, in the same commit as step 1: +# +# git add --renormalize . +# +# 3. Verify nothing but line endings changed -- this must print nothing: +# +# git diff --cached --ignore-cr-at-eol +# +# 4. Commit alone, with no other change in the MR, then record the SHA so +# `git blame` (and GitHub's blame view) skips over it: +# +# echo "" >> .git-blame-ignore-revs +# +# Add a follow-up commit for that file; also set it locally with +# `git config blame.ignoreRevsFile .git-blame-ignore-revs`. +# +# Cost, measured on the tree at the time of writing: 227 CRLF files + 7 with mixed +# endings, ~138k of ~634k lines rewritten (22%), across 234 files. The commit +# itself is mechanical and safe -- the real cost is every open branch that touches +# one of those files, which will conflict over the whole file on rebase. Merge or +# rebase those with `-X renormalize` (merge) / `--strategy-option renormalize`. +# +# Best moment: right after a release, when the branch backlog is smallest. diff --git a/.github/actions/install-macos-source-deps/action.yml b/.github/actions/install-macos-source-deps/action.yml new file mode 100644 index 00000000..83f16215 --- /dev/null +++ b/.github/actions/install-macos-source-deps/action.yml @@ -0,0 +1,267 @@ +name: 'Install macOS Source Dependencies' +description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.' +inputs: + os: + description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.' + required: true + build_type: + description: 'CMake build type.' + required: false + default: 'Release' +runs: + using: "composite" + steps: + - name: Resolve dependency versions + id: depver + shell: bash + # The source deps link against these Homebrew libraries and are compiled + # with Xcode's toolchain, so both are folded into the cache keys: a + # Homebrew bump (e.g. a new Eigen) or an Xcode update forces a rebuild. + run: | + BREW=$(brew list --versions eigen boost yaml-cpp | sort) + XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1) + HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1) + echo "hash=$HASH" >> "$GITHUB_OUTPUT" + + # ----------------------------- GTSAM ----------------------------- + - name: Cache GTSAM + id: cache-gtsam + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/gtsam + key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }} + + - name: Build GTSAM + if: steps.cache-gtsam.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + PATCHES="${{ github.action_path }}/patches" + SRC="${{ runner.temp }}/src-deps/gtsam" + STAGE="${{ runner.temp }}/deps-stage/gtsam" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam" + cd "$SRC/gtsam" + git apply "$PATCHES/gtsam-4.2.1-eigen5.patch" + cmake -B build \ + -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ + -DGTSAM_WITH_TBB=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_UNSTABLE=OFF \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DCMAKE_POLICY_VERSION_MINIMUM=3.5 + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + + # ----------------- libnabo + libpointmatcher -------------------- + # Built together: libpointmatcher depends on libnabo, so keeping them in one + # unit keeps the build order internal (lpm finds libnabo in the unit's stage). + - name: Cache pointmatcher + id: cache-pointmatcher + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/pointmatcher + key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }} + + - name: Build pointmatcher + if: steps.cache-pointmatcher.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + PATCHES="${{ github.action_path }}/patches" + SRC="${{ runner.temp }}/src-deps/pointmatcher" + STAGE="${{ runner.temp }}/deps-stage/pointmatcher" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + # libnabo (required by libpointmatcher) + git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo" + cd "$SRC/libnabo" + git apply "$PATCHES/libnabo-1.1.2.patch" + cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + # libpointmatcher (finds libnabo from the unit's staged prefix) + git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher" + cd "$SRC/libpointmatcher" + git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch" + cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + + # ----------------------------- OrbbecSDK ------------------------ + - name: Cache OrbbecSDK + id: cache-orbbec + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/orbbec + key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }} + + - name: Build OrbbecSDK + if: steps.cache-orbbec.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + PATCHES="${{ github.action_path }}/patches" + SRC="${{ runner.temp }}/src-deps/orbbec" + STAGE="${{ runner.temp }}/deps-stage/orbbec" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2" + cd "$SRC/OrbbecSDK_v2" + git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch" + # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local + # so it stages under usr/local like the other deps and is installed/found. + cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + + # ----------------------------- depthai -------------------------- + - name: Cache depthai + id: cache-depthai + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/depthai + key: depthai-2.32.0-usrlocal-nocv-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }} + + - name: Build depthai + if: steps.cache-depthai.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + PATCHES="${{ github.action_path }}/patches" + SRC="${{ runner.temp }}/src-deps/depthai" + STAGE="${{ runner.temp }}/deps-stage/depthai" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets) + git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core" + cd "$SRC/depthai-core" + git submodule update --init --recursive + # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic + # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK. + git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch" + # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the + # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not + # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai + # (Hunter reuses the same cmake binary for its dependency sub-builds). + python3 -m venv "$SRC/cmake3-venv" + "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6" + CMAKE3="$SRC/cmake3-venv/bin/cmake" + # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also + # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL. + # depthai-core defaults its install prefix to /install; force + # /usr/local so it stages under usr/local like the other deps. + "$CMAKE3" -B build \ + -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \ + -DCMAKE_INSTALL_PREFIX=/usr/local \ + -DBUILD_SHARED_LIBS=ON \ + -DDEPTHAI_ENABLE_CURL=OFF \ + -DDEPTHAI_BUILD_TESTS=OFF \ + -DDEPTHAI_BUILD_EXAMPLES=OFF \ + -DDEPTHAI_OPENCV_SUPPORT=OFF \ + -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)" + "$CMAKE3" --build build -j$NPROC + DESTDIR="$STAGE" "$CMAKE3" --install build + + # ----------------------------- opengv --------------------------- + - name: Cache opengv + id: cache-opengv + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/opengv + key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }} + + - name: Build opengv + if: steps.cache-opengv.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + PATCHES="${{ github.action_path }}/patches" + SRC="${{ runner.temp }}/src-deps/opengv" + STAGE="${{ runner.temp }}/deps-stage/opengv" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + # opengv pins a commit (not a tag), so clone then checkout. + git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv" + cd "$SRC/opengv" + git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 + # Disable the -march=native/armv7-a/armv8-a flags so it builds portably on + # both Intel and Apple Silicon runners. + git apply "$PATCHES/opengv-91f4b19c-macos.patch" + # CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient + # cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points + # opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64). + cmake -B build \ + -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \ + -DCMAKE_INSTALL_PREFIX=/usr/local \ + -DBUILD_TESTS=OFF \ + -DBUILD_SHARED_LIBS=ON \ + -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \ + -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3" + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + + # ----------------------------- g2o ------------------------------ + - name: Cache g2o + id: cache-g2o + uses: actions/cache@v4 + with: + path: ${{ runner.temp }}/deps-stage/g2o + key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }} + + - name: Build g2o + if: steps.cache-g2o.outputs.cache-hit != 'true' + shell: bash + run: | + set -e + NPROC=$(sysctl -n hw.logicalcpu) + SRC="${{ runner.temp }}/src-deps/g2o" + STAGE="${{ runner.temp }}/deps-stage/g2o" + rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE" + # g2o pins a commit (not a tag), so clone then checkout. + git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o" + cd "$SRC/g2o" + git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d + # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the + # other deps. Homebrew's libomp is keg-only and g2o does not propagate + # OpenMP's include/lib dirs, so with Apple clang isn't found and + # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly. + LIBOMP=$(brew --prefix libomp) + cmake -B build \ + -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \ + -DCMAKE_INSTALL_PREFIX=/usr/local \ + -DCMAKE_PREFIX_PATH="$LIBOMP" \ + -DCMAKE_C_FLAGS="-I$LIBOMP/include" \ + -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \ + -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \ + -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \ + -DG2O_BUILD_APPS=OFF \ + -DG2O_BUILD_EXAMPLES=OFF \ + -DG2O_USE_OPENMP=ON \ + -DG2O_USE_OPENGL=OFF + cmake --build build -j$NPROC + DESTDIR="$STAGE" cmake --install build + + # ------------------- install all units into /usr/local ---------- + - name: Install source dependencies into /usr/local + shell: bash + # Copy each (cached or freshly built) staged tree into /usr/local so + # rtabmap's find_package() and the bundle fixup (which search /usr/local) + # pick them up. Runs on both cache hit and miss. + run: | + set -e + STAGE="${{ runner.temp }}/deps-stage" + found=0 + for unit in gtsam pointmatcher orbbec depthai opengv g2o; do + if [ -d "$STAGE/$unit/usr/local" ]; then + sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/ + found=1 + fi + done + if [ "$found" != "1" ]; then + echo "No staged source dependencies found under $STAGE" >&2 + exit 1 + fi diff --git a/.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch b/.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch new file mode 100644 index 00000000..fdeda53b --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch @@ -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 ${_QUIET} CONFIG REQUIRED) diff --git a/.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch b/.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch new file mode 100644 index 00000000..505517b9 --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch @@ -0,0 +1,83 @@ +diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake +index b3b4f66b6..651cd1009 100644 +--- a/cmake/HandleEigen.cmake ++++ b/cmake/HandleEigen.cmake +@@ -59,7 +59,12 @@ else() + endif() + + # Detect Eigen version: +-set(EIGEN_VER_H "${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; \ + using Matrix8##N = Eigen::Matrix; \ + using Matrix9##N = Eigen::Matrix; \ + static const Eigen::MatrixBase::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \ +-static const Eigen::MatrixBase::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 + #include ++#include + #include + #include + +@@ -42,14 +43,14 @@ typedef Eigen::Matrix Vector1; + typedef Eigen::Vector2d Vector2; + typedef Eigen::Vector3d Vector3; + +-static const Eigen::MatrixBase::ConstantReturnType Z_2x1 = Vector2::Zero(); +-static const Eigen::MatrixBase::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; \ +- static const Eigen::MatrixBase::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 */ diff --git a/.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch b/.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch new file mode 100644 index 00000000..a9e462f9 --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch @@ -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 + #include + #include + #include +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 + #include + #include ++#include + #ifdef HAVE_OPENMP + #include + #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 + #include + #include + #include +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 + #include + #include + #include +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 + #include + #include + #include diff --git a/.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch b/.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch new file mode 100644 index 00000000..b1030f30 --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch @@ -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) + diff --git a/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch b/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch new file mode 100644 index 00000000..c503c37a --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch @@ -0,0 +1,309 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 9660f55..0186da4 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -31,12 +31,12 @@ IF(MSVC) + add_definitions(-D_USE_MATH_DEFINES) + ELSE() + IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)") +- add_definitions (-march=armv8-a) ++ #add_definitions (-march=armv8-a) + ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES + "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)") +- add_definitions (-march=armv7-a) ++ #add_definitions (-march=armv7-a) + ELSE () +- add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x ++ #add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x + ENDIF() + add_definitions ( + -O3 +@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators + set_target_properties( opengv random_generators PROPERTIES + SOVERSION ${PROJECT_VERSION} + VERSION ${PROJECT_VERSION} +- CXX_STANDARD 11 ++ CXX_STANDARD 14 + CXX_STANDARD_REQUIRED ON + DEBUG_POSTFIX d ) + +@@ -329,7 +329,7 @@ IF (BUILD_TESTS) + test_Sturm + + PROPERTIES +- CXX_STANDARD 11 ++ CXX_STANDARD 14 + CXX_STANDARD_REQUIRED ON + DEBUG_POSTFIX d ) + +diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake +index 126f4a0..39b5524 100644 +--- a/modules/FindEigen.cmake ++++ b/modules/FindEigen.cmake +@@ -30,7 +30,13 @@ if(NOT Eigen_FIND_VERSION) + endif(NOT Eigen_FIND_VERSION) + + macro(_eigen3_check_version) +- file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) ++ # 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. ++ if(EXISTS "${EIGEN_INCLUDE_DIR}/Eigen/Version") ++ file(READ "${EIGEN_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header) ++ else() ++ file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) ++ endif() + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}") +diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp +index 684fa7e..a4ff2bd 100644 +--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp ++++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + +diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp +index 6edbabc..1687d45 100644 +--- a/src/absolute_pose/MACentralAbsolute.cpp ++++ b/src/absolute_pose/MACentralAbsolute.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + +diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp +index d9b5b09..a7ae689 100644 +--- a/src/absolute_pose/MANoncentralAbsolute.cpp ++++ b/src/absolute_pose/MANoncentralAbsolute.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute( +diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp +index 30176aa..6a0e405 100644 +--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp ++++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter( +diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp +index 88c237a..58a82f4 100644 +--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp ++++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter( +diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp +index b1f0889..19c4eaf 100644 +--- a/src/absolute_pose/methods.cpp ++++ b/src/absolute_pose/methods.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + #include + +diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp +index ed0c271..99f7f35 100644 +--- a/src/absolute_pose/modules/main.cpp ++++ b/src/absolute_pose/modules/main.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + #include + +diff --git a/src/math/arun.cpp b/src/math/arun.cpp +index a0d6296..f5c0ac3 100644 +--- a/src/math/arun.cpp ++++ b/src/math/arun.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::rotation_t +diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp +index 81fd5dd..cdccae3 100644 +--- a/src/point_cloud/MAPointCloud.cpp ++++ b/src/point_cloud/MAPointCloud.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::point_cloud::MAPointCloud::MAPointCloud( +diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp +index f9faaeb..28fbb7e 100644 +--- a/src/point_cloud/PointCloudAdapter.cpp ++++ b/src/point_cloud/PointCloudAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::point_cloud::PointCloudAdapter::PointCloudAdapter( +diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp +index 5409eeb..7a26e6a 100644 +--- a/src/point_cloud/methods.cpp ++++ b/src/point_cloud/methods.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + #include + +diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp +index 38e9a62..5018bd8 100644 +--- a/src/relative_pose/CentralRelativeAdapter.cpp ++++ b/src/relative_pose/CentralRelativeAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter( +diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp +index 2ab7476..49a3a07 100644 +--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp ++++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter( +diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp +index a6ab478..7684526 100644 +--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp ++++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter( +diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp +index ec2959f..75e76d5 100644 +--- a/src/relative_pose/MACentralRelative.cpp ++++ b/src/relative_pose/MACentralRelative.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::MACentralRelative::MACentralRelative( +diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp +index cea9c14..8566aeb 100644 +--- a/src/relative_pose/MANoncentralRelative.cpp ++++ b/src/relative_pose/MANoncentralRelative.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::MANoncentralRelative::MANoncentralRelative( +diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp +index 49f8ecf..8b62e07 100644 +--- a/src/relative_pose/MANoncentralRelativeMulti.cpp ++++ b/src/relative_pose/MANoncentralRelativeMulti.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti( +diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp +index 552f180..775d520 100644 +--- a/src/relative_pose/NoncentralRelativeAdapter.cpp ++++ b/src/relative_pose/NoncentralRelativeAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter( +diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp +index f41edbe..733023c 100644 +--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp ++++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + + opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter( +diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp +index 0027dae..7678567 100644 +--- a/src/relative_pose/methods.cpp ++++ b/src/relative_pose/methods.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + #include + +diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp +index 4b134c5..258d416 100644 +--- a/src/relative_pose/modules/fivept_nister/modules.cpp ++++ b/src/relative_pose/modules/fivept_nister/modules.cpp +@@ -29,6 +29,7 @@ + ******************************************************************************/ + + ++#include + #include + #include + #include diff --git a/.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch b/.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch new file mode 100644 index 00000000..9bd50c4a --- /dev/null +++ b/.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch @@ -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 ConfigVersion.cmake (not Version.cmake) and ++ # install it next to the config in lib/cmake/, 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 $ DESTINATION bin OPTIONAL) diff --git a/.github/actions/install-windows-cuda-deps/action.yml b/.github/actions/install-windows-cuda-deps/action.yml index 0027ee58..d3cfe2cf 100644 --- a/.github/actions/install-windows-cuda-deps/action.yml +++ b/.github/actions/install-windows-cuda-deps/action.yml @@ -26,7 +26,7 @@ runs: uses: actions/cache@v4 with: path: ${{ runner.workspace }}/vcpkg_installed - key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1 + key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v5 - name: Download and Install vcpkg if: steps.cache-vcpkg.outputs.cache-hit != 'true' @@ -35,10 +35,25 @@ runs: $install_dir = "${{ runner.workspace }}\vcpkg_installed" $archivePath = "${{ runner.workspace }}\vcpkg-export.7z" - # The file has been built locally with bundle-windows-deps.bat - $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z" - - Invoke-WebRequest -Uri $url -OutFile $archivePath + # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a + # GitHub release. Resolve it by filename via the API (authenticated with the + # built-in token) so it works even from a *draft* release and regardless of + # the (changing) asset id. Requires the workflow to run in-repo (github.token + # can't read introlab drafts from a fork PR). + $repo = "introlab/rtabmap" + $releaseTag = "0.23.8" + $assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z" + $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" } + # Select the release by tag_name (populated on drafts too, and unique), then + # take the asset from THAT release so concurrent releases can't be confused. + $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) | + Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1 + if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" } + $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1 + if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" } + Write-Host "Downloading $assetName (asset id $($asset.id)) ..." + $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" } + Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath & 7z x $archivePath "-o$install_dir" -y - name: Add vcpkg to PATH and env variable @@ -46,7 +61,9 @@ runs: run: | $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed" echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append - echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append + echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append + # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time. + echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append diff --git a/.github/actions/install-windows-deps/action.yml b/.github/actions/install-windows-deps/action.yml index 00983b29..1b71cf18 100644 --- a/.github/actions/install-windows-deps/action.yml +++ b/.github/actions/install-windows-deps/action.yml @@ -13,7 +13,7 @@ runs: uses: actions/cache@v4 with: path: ${{ runner.workspace }}/vcpkg_installed - key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v4 + key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v7 - name: Download and Install vcpkg if: steps.cache-vcpkg.outputs.cache-hit != 'true' @@ -22,10 +22,25 @@ runs: $install_dir = "${{ runner.workspace }}\vcpkg_installed" $archivePath = "${{ runner.workspace }}\vcpkg-export.7z" - # The file has been built locally with bundle-windows-deps.bat - $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z" - - Invoke-WebRequest -Uri $url -OutFile $archivePath + # The 7z is built locally with bundle_windows_deps.bat and uploaded to a + # GitHub release. Resolve it by filename via the API (authenticated with the + # built-in token) so it works even from a *draft* release and regardless of + # the (changing) asset id. Requires the workflow to run in-repo (github.token + # can't read introlab drafts from a fork PR). + $repo = "introlab/rtabmap" + $releaseTag = "0.23.8" + $assetName = "vcpkg-export-66c0373d-x64-vs2022.7z" + $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" } + # Select the release by tag_name (populated on drafts too, and unique), then + # take the asset from THAT release so concurrent releases can't be confused. + $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) | + Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1 + if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" } + $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1 + if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" } + Write-Host "Downloading $assetName (asset id $($asset.id)) ..." + $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" } + Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath & 7z x $archivePath "-o$install_dir" -y - name: Add vcpkg to PATH and env variable @@ -34,4 +49,6 @@ runs: $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed" echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append + # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time. + echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append diff --git a/.github/scripts/ros-deps-env.sh b/.github/scripts/ros-deps-env.sh new file mode 100644 index 00000000..15759fdc --- /dev/null +++ b/.github/scripts/ros-deps-env.sh @@ -0,0 +1,19 @@ +# Puts the graph optimizers taken from the ROS 2 repo (see cmake-linux.yml) on +# the loader path, for a shell that is about to run something built against +# them. Sourced, not executed: it exports into the caller. +# +# source .github/scripts/ros-deps-env.sh /opt/ros/humble +# +# A missing or empty prefix is a build that took every dependency from the +# Ubuntu archive: nothing to add. +# +# Both directories are needed. GTSAM and g2o install their libraries in the +# multiarch subdirectory, while the prefix's own lib/ holds the rest, and +# libgtsam.so carries no RUNPATH -- so the loader finds neither it nor the +# libmetis-gtsam.so it pulls in without being told where to look. +ros_prefix="${1:-}" +if [ -n "$ros_prefix" ] && [ -d "$ros_prefix" ]; then + ros_lib="$ros_prefix/lib" + export LD_LIBRARY_PATH="${ros_lib}:${ros_lib}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" + echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH" +fi diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml new file mode 100644 index 00000000..82ff7a4e --- /dev/null +++ b/.github/workflows/android.yml @@ -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: true + +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 diff --git a/.github/workflows/cmake-linux.yml b/.github/workflows/cmake-linux.yml index bf2b51fb..8e678dc7 100644 --- a/.github/workflows/cmake-linux.yml +++ b/.github/workflows/cmake-linux.yml @@ -4,9 +4,17 @@ on: push: branches: - master + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' pull_request: - branches: + branches: - '**' + paths-ignore: *platform_only + workflow_dispatch: env: BUILD_TYPE: Release @@ -19,36 +27,129 @@ jobs: build: name: ${{ matrix.build_name }} runs-on: ${{ matrix.os }} + concurrency: + group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.build_name }} + cancel-in-progress: true strategy: fail-fast: true matrix: build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04] include: + # GTSAM is in no Ubuntu release, and libg2o-dev only appears in the + # archive from noble on (jammy has no g2o at all). + # + # 26.04 builds GTSAM itself (gtsam_ref) rather than taking it from the + # ROS repo: that runner is on Ubuntu's amd64v3 variant, so rtabmap and + # the archive libraries are AVX builds where Eigen aligns to 32, while + # the ROS binary is plain x86-64 where it aligns to 16 and uses plain + # malloc/free. Allocating on one side and freeing on the other gives + # "double free or corruption (out)". Forcing EIGEN_MAX_ALIGN_BYTES=16 + # on rtabmap would only move the mismatch onto PCL, g2o and Ceres. - build_name: ubuntu-22.04 os: ubuntu-22.04 extra_deps: "libunwind-dev libceres-dev" - extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON" + ros_deps: "ros-humble-libg2o ros-humble-gtsam" + ros_prefix: "/opt/ros/humble" + extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON" - build_name: ubuntu-24.04 os: ubuntu-24.04 extra_deps: "libg2o-dev libceres-dev" - extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON" + ros_deps: "ros-jazzy-gtsam" + ros_prefix: "/opt/ros/jazzy" + extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON" - build_name: ubuntu-24.04-with-opengv os: ubuntu-24.04 extra_deps: "libg2o-dev libceres-dev" - extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON" + ros_deps: "ros-jazzy-gtsam" + ros_prefix: "/opt/ros/jazzy" + extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON" - build_name: ubuntu-26.04 os: ubuntu-26.04 - extra_deps: "libg2o-dev libceres-dev" - extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON" + # libboost-all-dev for the GTSAM build + extra_deps: "libg2o-dev libceres-dev libboost-all-dev" + ros_deps: "" + ros_prefix: "" + # The tag ros-lyrical-gtsam 4.3.0 is built from + gtsam_ref: "4.3a0-ros" + extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON" steps: - uses: actions/checkout@v4 + - name: Restore test data + id: cache-testdata + uses: actions/cache@v4 + with: + # SQLite DBs are binary-portable -> share the cache across + # linux / macos / windows. Key omits runner.os on purpose so all + # three OSes hit the same entry. + path: data/tests/*.db + key: testdata-${{ hashFiles('data/tests/manifest.txt') }} + + - name: Fetch test data + if: steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: bash scripts/fetch_test_data.sh + - name: Install Linux Dependencies run: | DEBIAN_FRONTEND=noninteractive sudo apt-get update - sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }} + sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev curl gnupg lsb-release ${{ matrix.extra_deps }} + + - name: Install Graph Optimizers From The ROS Repo + if: matrix.ros_deps != '' + env: + DEBIAN_FRONTEND: noninteractive + run: | + sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ + -o /usr/share/keyrings/ros-archive-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \ + | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + sudo apt-get update + sudo apt-get -y install ${{ matrix.ros_deps }} + + # The compiler's x86-64 baseline, for the cache key: it decides Eigen's + # alignment, so a GTSAM built under one must not be restored under the + # other. v3 packages still declare Architecture: amd64, so dpkg cannot tell. + - name: Toolchain baseline + if: matrix.gtsam_ref != '' + id: toolchain + run: | + avx=$(echo | gcc -dM -E -x c++ - | grep -c __AVX__ || true) + echo "gcc $(gcc -dumpversion), __AVX__=$avx" + echo "id=gcc$(gcc -dumpversion)-avx${avx}" >> "$GITHUB_OUTPUT" + + - name: Restore GTSAM + if: matrix.gtsam_ref != '' + id: cache-gtsam + uses: actions/cache@v4 + with: + path: ${{github.workspace}}/gtsam-install + key: gtsam-${{ matrix.gtsam_ref }}-${{ matrix.os }}-${{ steps.toolchain.outputs.id }} + + - name: Build GTSAM + if: matrix.gtsam_ref != '' && steps.cache-gtsam.outputs.cache-hit != 'true' + run: | + git clone --depth 1 --branch ${{ matrix.gtsam_ref }} https://github.com/borglab/gtsam.git ${{runner.temp}}/gtsam-src + # Tag-specific fixes, named after the tag. + patch_file="${{github.workspace}}/patches/gtsam_$(echo '${{ matrix.gtsam_ref }}' | tr '.' '_').patch" + if [ -f "$patch_file" ]; then + echo "Applying $patch_file" + git -C ${{runner.temp}}/gtsam-src apply "$patch_file" + fi + cmake -S ${{runner.temp}}/gtsam-src -B ${{runner.temp}}/gtsam-build \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/gtsam-install \ + -DGTSAM_USE_SYSTEM_EIGEN=ON \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ + -DGTSAM_BUILD_WITH_WERROR=OFF \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_UNSTABLE=OFF \ + -DGTSAM_BUILD_PYTHON=OFF \ + -DBUILD_SHARED_LIBS=ON + cmake --build ${{runner.temp}}/gtsam-build --target install -j $(nproc) - name: Set up Python uses: actions/setup-python@v5 @@ -62,7 +163,12 @@ jobs: - name: Configure CMake run: | - cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }} + # Both prefixes when a job has both. + prefix_path="${{ matrix.ros_prefix }}" + if [ -d "${{github.workspace}}/gtsam-install" ]; then + prefix_path="${prefix_path:+$prefix_path;}${{github.workspace}}/gtsam-install" + fi + cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_PREFIX_PATH="$prefix_path" -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }} - name: Build run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} @@ -70,11 +176,46 @@ jobs: - name: Info working-directory: ${{github.workspace}}/build/bin run: | + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}" + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install" ./rtabmap-console --version -# - name: Test -# working-directory: ${{github.workspace}}/build -# # Execute tests defined by the CMake configuration. -# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail -# run: ctest -C ${{env.BUILD_TYPE}} - + - name: Test + working-directory: ${{github.workspace}}/build + # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from + # loading numpy / other site-packages from ~/.local that were compiled + # against a different ABI than the build-time Python (causes numpy + # 1.x/2.x mismatch crashes in test_pydetector / test_pydescriptor / + # test_pymatcher). + env: + PYTHONNOUSERSITE: 1 + run: | + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}" + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install" + # Keep a core file per crashing test, for the backtrace step below: an + # abort otherwise leaves only its message, and may not reproduce + # elsewhere. + ulimit -c unlimited + sudo sysctl -w kernel.core_pattern="${{github.workspace}}/build/core.%e.%p" > /dev/null + ctest -C ${{env.BUILD_TYPE}} -V -LE performance + + - name: Backtrace of crashed tests + if: failure() + working-directory: ${{github.workspace}}/build + run: | + shopt -s nullglob + cores=(core.*) + if [ ${#cores[@]} -eq 0 ]; then + echo "No core file: the failure was an assertion or a wrong value, not a crash." + exit 0 + fi + sudo apt-get -y install gdb + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}" + source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install" + for core in "${cores[@]}"; do + exe="${core#core.}" + exe="bin/${exe%.*}" + echo "::group::$core ($exe)" + gdb -batch -ex "thread apply all bt" "$exe" "$core" || true + echo "::endgroup::" + done \ No newline at end of file diff --git a/.github/workflows/cmake-macos.yml b/.github/workflows/cmake-macos.yml index a8d37a3e..9bfa6050 100644 --- a/.github/workflows/cmake-macos.yml +++ b/.github/workflows/cmake-macos.yml @@ -4,9 +4,17 @@ on: push: branches: - master + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' pull_request: - branches: + branches: - '**' + paths-ignore: *platform_only + workflow_dispatch: env: BUILD_TYPE: Release @@ -22,36 +30,76 @@ jobs: strategy: fail-fast: true matrix: - build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon] + build_name: [macos-sequoia-apple-silicon, macos-tahoe-apple-silicon, macos-tahoe-apple-silicon-cv5] include: - - build_name: macos-sequoia-intel - os: macos-15-intel - extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON' + # macos-sequoia-intel temporarily disabled. Had some g2o optimizer issues. + #- build_name: macos-sequoia-intel + # os: macos-15-intel + # cv: opencv@4 - build_name: macos-sequoia-apple-silicon os: macos-15 - extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON' - - build_name: macos-tahoe-intel - os: macos-26-intel - extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON' + cv: opencv@4 + # - build_name: macos-tahoe-intel + # os: macos-26-intel + # cv: opencv@4 - build_name: macos-tahoe-apple-silicon os: macos-26 - extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON' - + cv: opencv@4 + # - build_name: macos-tahoe-intel-cv5 + # os: macos-26-intel + # cv: opencv + - build_name: macos-tahoe-apple-silicon-cv5 + os: macos-26 + cv: opencv steps: - uses: actions/checkout@v4 + - name: Restore test data + id: cache-testdata + uses: actions/cache@v4 + with: + # SQLite DBs are binary-portable -> share the cache across + # linux / macos / windows. Key omits runner.os on purpose so all + # three OSes hit the same entry. + path: data/tests/*.db + key: testdata-${{ hashFiles('data/tests/manifest.txt') }} + + - name: Fetch test data + if: steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: bash scripts/fetch_test_data.sh + - name: Install Brew Dependencies run: | # Update brew and install from Brewfile if present, or specific packages - brew install pcl opencv octomap g2o pdal + brew install pcl octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver ${{ matrix.cv }} + + - name: Install Source Dependencies + # Build (and per-dependency cache) the source-only deps not available from + # Homebrew, then install them into /usr/local. See the composite action. + uses: ./.github/actions/install-macos-source-deps + with: + os: ${{ matrix.os }} + build_type: ${{ env.BUILD_TYPE }} - name: Configure CMake run: | - cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }} + # Apple clang has no built-in OpenMP; point find_package(OpenMP) at + # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of + # repeatedly logging "Could NOT find OpenMP". + LIBOMP=$(brew --prefix libomp) + cmake -B ${{github.workspace}}/build \ + -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \ + -DBUILD_TESTING=ON \ + -DBUILD_AS_BUNDLE=ON \ + -DWITH_ORBBEC_SDK=ON \ + -DWITH_DEPTHAI=ON \ + -DWITH_CERES=ON \ + -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \ + -DOpenMP_C_LIB_NAMES=omp \ + -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \ + -DOpenMP_CXX_LIB_NAMES=omp \ + -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib" - name: Build run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} @@ -61,23 +109,59 @@ jobs: run: | ./rtabmap-console --version -# - name: Build MacOS Package -# run: | -# cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package + - name: Build MacOS Package + run: | + cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package -# - name: Upload RTABMap Artifacts (DMG) -# uses: actions/upload-artifact@v4 -# with: -# name: RTABMap-Binaries-${{ matrix.build_name }}-zip -# path: | -# build/RTABMap-*.dmg -# compression-level: 0 -# if-no-files-found: warn -# retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }} + - name: Upload RTABMap Artifacts (DMG) + uses: actions/upload-artifact@v4 + with: + name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip + path: | + build/RTABMap-*.dmg + compression-level: 0 + if-no-files-found: warn + retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }} + + - name: Test + working-directory: ${{github.workspace}}/build + # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from + # loading numpy / other site-packages from the user's site that were + # compiled against a different ABI than the build-time Python. + env: + PYTHONNOUSERSITE: 1 + run: | + ctest -C ${{env.BUILD_TYPE}} -V -LE performance + + # A ctest SEGFAULT is reported as just "SEGFAULT" with no backtrace, which + # makes a crash inside a long integration test invisible -- the log simply + # stops mid-test. macOS's ReportCrash writes a symbolized .ips report for + # every crashed process, so surface any that appeared during this job. + - name: Dump macOS crash reports on failure + if: failure() + run: | + # ReportCrash can lag the process death by a few seconds. + sleep 20 + found=0 + for d in "$HOME/Library/Logs/DiagnosticReports" /Library/Logs/DiagnosticReports; do + [ -d "$d" ] || continue + while IFS= read -r f; do + found=1 + echo "::group::$f" + cat "$f" + echo "::endgroup::" + done < <(find "$d" -type f \( -name '*.ips' -o -name '*.crash' \) -mtime -1 2>/dev/null | sort) + done + if [ "$found" = 0 ]; then + echo "No crash reports found -- the job may have failed without a crash." + fi + + - name: Upload ctest log on failure + if: failure() + uses: actions/upload-artifact@v4 + with: + name: ctest-log-${{ matrix.build_name }} + path: build/Testing/Temporary/LastTest.log + if-no-files-found: warn + retention-days: 7 -# - name: Test -# working-directory: ${{github.workspace}}/build -# # Execute tests defined by the CMake configuration. -# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail -# run: ctest -C ${{env.BUILD_TYPE}} - diff --git a/.github/workflows/cmake-ros.yml b/.github/workflows/cmake-ros.yml index 67c03c04..bd76d0f2 100644 --- a/.github/workflows/cmake-ros.yml +++ b/.github/workflows/cmake-ros.yml @@ -4,43 +4,111 @@ on: push: branches: - kilted-devel + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' pull_request: - branches: + branches: - '**' + paths-ignore: *platform_only + workflow_dispatch: env: - # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.) BUILD_TYPE: Release concurrency: group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} - cancel-in-progress: ${{ github.event_name == 'pull_request' }} + cancel-in-progress: true jobs: build: - # The CMake configure and build commands are platform agnostic and should work equally - # well on Windows or Mac. You can convert this to a matrix build if you need - # cross-platform coverage. - # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix - name: ${{ matrix.ros_distribution }} + name: ${{ matrix.ros_distribution }}${{ matrix.use_ros2_testing && '-testing' || '' }} runs-on: ubuntu-latest + concurrency: + group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}-${{ matrix.use_ros2_testing }} + cancel-in-progress: true strategy: fail-fast: false matrix: ros_distribution: [ kilted ] + # Build against both main (what users install) and ros2-testing (closest to + # what the buildfarm builds bloom releases against). + use_ros2_testing: [ false, true ] include: - ros_distribution: 'kilted' - skip_keys: "" + skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead. container: image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full - steps: + steps: - uses: actions/checkout@v4 + + - name: Restore test data + id: cache-testdata + uses: actions/cache@v4 + with: + path: data/tests/*.db + key: testdata-${{ hashFiles('data/tests/manifest.txt') }} + + - name: Fetch test data + if: steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: | + # The ROS images are slim; fetch_test_data.sh needs curl, and 7-Zip for + # the assets that come as an archive. The package holding it is + # p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones. + command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl) + command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \ + (apt-get install -y --no-install-recommends p7zip-full || \ + apt-get install -y --no-install-recommends 7zip)) + bash scripts/fetch_test_data.sh + + # `${{ github.workspace }}` is expanded by the runner on the *host* + # (/home/runner/work/...), but this job runs in a container where the runner + # bind-mounts that directory somewhere else (/__w/...). Baking the host path + # into RTABMAP_TEST_DATA_ROOT points every data-driven test at a directory + # that does not exist in the container: the integration tests silently skip + # and the ones that imread() committed fixtures abort outright. + # + # Resolve the path inside the container instead. A `run` step's cwd is the + # checkout root -- the same assumption the relative `scripts/...` and + # `data/tests/*.db` paths in the steps above already rely on -- so derive it + # from $PWD rather than trusting a path computed outside the container. The + # existence checks then turn that into a verified precondition: a wrong + # mount point or a failed fetch fails here, with the path printed, instead + # of degrading into skipped tests. + - name: Resolve test data root in the container + id: testdata + shell: bash + run: | + root="$PWD/data" + test -f "$root/samples/17.jpg" || { echo "::error::test data root $root is missing committed fixtures"; exit 1; } + ls "$root"/tests/*.db >/dev/null || { echo "::error::no test databases in $root/tests"; exit 1; } + echo "root=$root" >> "$GITHUB_OUTPUT" + + # The osrf/ros image ships ros2-apt-source (main), which conflicts with the + # ros2-testing-apt-source package setup-ros tries to install. Remove it so + # setup-ros can switch the image to the testing repo. + - name: Remove ROS main apt source + if: matrix.use_ros2_testing + run: dpkg --purge ros2-apt-source + - uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: ${{ matrix.ros_distribution }} + use-ros2-testing: ${{ matrix.use_ros2_testing }} + + # setup-ros doesn't upgrade on noble/resolute, so the packages preinstalled + # in the image would stay at their main versions. Upgrade them to testing. + - name: Upgrade ROS packages to testing + if: matrix.use_ros2_testing + run: apt-get update && apt-get dist-upgrade -y - uses: ros-tooling/action-ros-ci@v0.4 with: package-name: rtabmap target-ros2-distro: ${{ matrix.ros_distribution }} rosdep-skip-keys: "${{ matrix.skip_keys }}" - + coverage-result: false + extra-cmake-args: -DTEST_DATA_ROOT=${{ steps.testdata.outputs.root }} diff --git a/.github/workflows/cmake-windows.yml b/.github/workflows/cmake-windows.yml index 9af50aa3..4c6825bd 100644 --- a/.github/workflows/cmake-windows.yml +++ b/.github/workflows/cmake-windows.yml @@ -4,9 +4,17 @@ on: push: branches: - master + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' pull_request: - branches: + branches: - '**' + paths-ignore: *platform_only + workflow_dispatch: env: BUILD_TYPE: Release @@ -27,15 +35,73 @@ jobs: - build_name: windows-2022 os: windows-2022 extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF' + extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF' - build_name: windows-2022-cuda os: windows-2022 extra_deps: "" - extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON' + extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON' steps: - uses: actions/checkout@v4 + - name: Restore test data + id: cache-testdata + if: matrix.build_name != 'windows-2022-cuda' + uses: actions/cache@v4 + with: + # SQLite DBs are binary-portable -> share the cache across + # linux / macos / windows. Key omits runner.os on purpose so all + # three OSes hit the same entry. + path: data/tests/*.db + key: testdata-${{ hashFiles('data/tests/manifest.txt') }} + + - name: Fetch test data + if: matrix.build_name != 'windows-2022-cuda' && steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: bash scripts/fetch_test_data.sh + + - name: Install VC++ 2012 runtime + # The Kinect for Windows SDK 2.0 (WITH_K4W2=ON) is a VS2012 build, so + # Kinect20.dll needs MSVCR110.dll and MSVCP110.dll, and it reaches + # rtabmap_core as a load-time import. bundle_windows_deps.bat stages only + # Kinect20.dll itself into the vcpkg export, not the runtime it was built + # against, and the windows-2022 image lists no VC++ 2012 runtime (only + # 2013 and 2022). When nothing else on the machine happens to supply them, + # every executable linking rtabmap_core dies in the loader with 0xc0000135 + # (STATUS_DLL_NOT_FOUND) before reaching main(), while the utilite tests, + # which link nothing but psapi, keep passing. + # + # The durable fix is to stage the two DLLs beside Kinect20.dll in the + # bundle, which would cover the shipped package too; that needs the bundle + # rebuilt and the cache key bumped, so install them here for now. + # + # Not pinned to one matrix leg: both build the package, and a package with + # Kinect support carries the same requirement. + shell: pwsh + run: | + $need = @('msvcr110.dll', 'msvcp110.dll') + function Get-Missing { + $need | Where-Object { -not (Test-Path (Join-Path "$env:SystemRoot\System32" $_)) } + } + + if (-not (Get-Missing)) { + Write-Host "VC++ 2012 runtime already present in System32, nothing to do" + exit 0 + } + + Write-Host "Missing before install: $((Get-Missing) -join ', ')" + choco install -y vcredist2012 --no-progress + Write-Host "choco exit code: $LASTEXITCODE" + + $still = Get-Missing + if ($still) { + # Warn rather than fail: the dependency dump in the next step reports + # the whole picture, which is more useful than stopping here. + Write-Host "::warning::Still missing from System32 after vcredist2012: $($still -join ', ')" + } else { + Write-Host "VC++ 2012 runtime installed: $($need -join ', ')" + } + - name: Install Windows Dependencies if: matrix.build_name == 'windows-2022' uses: ./.github/actions/install-windows-deps @@ -46,10 +112,26 @@ jobs: - name: Configure CMake run: | + # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake + # and the install rules), pointing at the export where the bundle staged their SDK files. + $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" + $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" + $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" cmake ` -B ${{github.workspace}}/build ` -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ` + -DBUILD_AS_BUNDLE=ON ` + -DWITH_PYTHON=ON ` + -DWITH_CERES=ON ` + -DWITH_ORBBEC_SDK=ON ` + -DWITH_FREENECT2=ON ` + -DWITH_K4W2=ON ` + -DWITH_K4A=ON ` + -DWITH_DEPTHAI=ON ` + -DWITH_REALSENSE2=ON ` + -DWITH_CCCORELIB=ON ` ${{ matrix.extra_cmake_def }} ` + -DBUILD_TESTING=ON ` -DVCPKG_MANIFEST_INSTALL=OFF ` -DVCPKG_TARGET_TRIPLET=x64-windows-release ` -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" ` @@ -57,7 +139,149 @@ jobs: -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch - name: Build - run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} + run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target ALL_BUILD + + - name: Diagnose loader dependencies + # ctest reports a loader failure as nothing but "Exit code 0xc0000135" + # (STATUS_DLL_NOT_FOUND): the process dies before main(), so gtest prints + # no output and the log never names the DLL that was not found. This walks + # the import tree of the executables ctest is about to run and reports the + # ones that do not resolve against the search path those processes see. + # + # Runs before Test, and keeps going on failure, so the report is in the log + # whether or not ctest then fails. Diagnostic only: it asserts nothing. + if: matrix.build_name != 'windows-2022-cuda' + continue-on-error: true + shell: pwsh + working-directory: ${{github.workspace}}/build/bin + run: | + $vswhere = "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe" + if (-not (Test-Path $vswhere)) { Write-Host "vswhere not found, skipping"; exit 0 } + $vsPath = & $vswhere -latest -property installationPath + # Sorted descending so this is the newest toolset, the one that built + # the binaries, rather than whichever side-by-side version sorts first. + $dumpbin = Get-ChildItem "$vsPath\VC\Tools\MSVC" -Filter 'dumpbin.exe' -Recurse -ErrorAction SilentlyContinue | + Where-Object { $_.FullName -like '*\Hostx64\x64\*' } | + Sort-Object FullName -Descending | Select-Object -First 1 + if (-not $dumpbin) { Write-Host "dumpbin not found under $vsPath, skipping"; exit 0 } + Write-Host "dumpbin : $($dumpbin.FullName)" + Write-Host "bin dir : $((Get-Location).Path) ($((Get-ChildItem -Filter '*.dll').Count) DLLs)" + + # The loader looks in the executable's own directory first, then + # System32, then PATH. api-ms-win-* / ext-ms-* are virtual API sets + # resolved by the loader with no file on disk, so they never count as + # missing. + $searchDirs = @((Get-Location).Path, "$env:SystemRoot\System32") + + ($env:PATH -split ';' | Where-Object { $_ -and (Test-Path $_) }) + + # Load-time and delay-load imports have to be told apart: only a + # missing load-time import kills the process with 0xc0000135. A missing + # delay-load one is resolved on first call, or never, so it is normal + # for the Windows security stack (HvsiFileTrust, wpaxholder) to show up + # there on a runner. dumpbin prints them in two sections. + function Get-Imports($file) { + $load = @(); $delay = @(); $mode = $null + foreach ($line in (& $dumpbin.FullName /dependents $file 2>$null)) { + if ($line -match 'following delay load dependencies') { $mode = 'delay'; continue } + elseif ($line -match 'following dependencies') { $mode = 'load'; continue } + elseif ($line -match '^\s*Summary') { $mode = $null; continue } + if ($mode -and $line -match '^\s+(\S+\.dll)\s*$') { + if ($mode -eq 'load') { $load += $Matches[1] } else { $delay += $Matches[1] } + } + } + [pscustomobject]@{ Load = $load; Delay = $delay } + } + + function Test-Resolvable($dll) { + $key = $dll.ToLower() + if ($key -like 'api-ms-*' -or $key -like 'ext-ms-*') { return $true } + [bool]($searchDirs | ForEach-Object { Join-Path $_ $dll } | + Where-Object { Test-Path $_ } | Select-Object -First 1) + } + + function Resolve-Dll($dll) { + $searchDirs | ForEach-Object { Join-Path $_ $dll } | + Where-Object { Test-Path $_ } | Select-Object -First 1 + } + + # Recurses through load-time imports only, which is the graph the + # loader must satisfy before main() runs. Delay-load imports of each + # visited binary are checked but not followed. + function Walk($file, $seen, $missing, $missingDelay) { + $imports = Get-Imports $file + foreach ($dll in $imports.Delay) { + if (-not (Test-Resolvable $dll)) { [void]$missingDelay.Add($dll) } + } + foreach ($dll in $imports.Load) { + if (-not $seen.Add($dll.ToLower())) { continue } + if ($dll.ToLower() -like 'api-ms-*' -or $dll.ToLower() -like 'ext-ms-*') { continue } + $hit = Resolve-Dll $dll + if ($hit) { Walk $hit $seen $missing $missingDelay } + else { [void]$missing.Add("$dll <- imported by $(Split-Path $file -Leaf)") } + } + } + + # test_ulogger passes today and rtabmap_core is what every failing test + # has in common, so the three together separate "this executable is + # broken" from "the dependency bundle is incomplete". + foreach ($exe in @('test_ulogger.exe', 'test_corelib.exe', 'rtabmap-console.exe')) { + if (-not (Test-Path $exe)) { Write-Host "--- $exe : not built"; continue } + $seen = [System.Collections.Generic.HashSet[string]]::new() + $missing = [System.Collections.Generic.HashSet[string]]::new() + $missingDelay = [System.Collections.Generic.HashSet[string]]::new() + Walk (Resolve-Path $exe).Path $seen $missing $missingDelay + if ($missing.Count) { + Write-Host "--- $exe : $($missing.Count) of $($seen.Count) LOAD-TIME imports MISSING (these fail the loader)" + $missing | Sort-Object | ForEach-Object { Write-Host " $_" } + } else { + Write-Host "--- $exe : all $($seen.Count) load-time imports resolve" + } + if ($missingDelay.Count) { + Write-Host " (delay-load, resolved on first call, not a loader failure: $(($missingDelay | Sort-Object) -join ', '))" + } + } + - name: Test + # Not run on the CUDA build, which is a build+package job only. + # + # The runner has no NVIDIA GPU or driver (see the driver-DLL note in + # app/src/CMakeLists.txt), so no cv::cuda / CUDASIFT path can actually + # execute there -- everything falls back to CPU and the run just repeats + # the coverage the non-CUDA job already gives, on the same sources. It + # used to cost more than it returned: the two cv::cuda-touching tests + # (test_util3d_features, test_localgrid) had to be excluded because lazy + # CUDA-init stalled them past the 300 s timeout, and once WITH_ZED=ON was + # added to this job every remaining corelib test died in the loader with + # 0xc0000135 (STATUS_DLL_NOT_FOUND) before reaching main(): rtabmap_core + # links sl_zed64.dll, which imports the driver-only nvcuvid.dll / + # nvEncodeAPI64.dll that a driver-less runner does not have. + # + # So this job compiles, links and packages the CUDA artifact; the + # non-CUDA job is what verifies behaviour. Same reason the Info step + # below is skipped here. + if: matrix.build_name != 'windows-2022-cuda' + working-directory: ${{github.workspace}}/build + # PYTHONHOME points the embedded interpreter at vcpkg's bundled + # Python install (where Lib/, DLLs/ live). Without it Python emits + # "Could not find platform independent libraries " at init + # and runs without a stdlib, breaking every numpy import. + # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from + # loading numpy / other site-packages from %APPDATA%\Python that + # were compiled against a different ABI than the build-time Python + # (numpy 1.x/2.x mismatch crashes in test_pydetector / + # test_pydescriptor / test_pymatcher). + env: + PYTHONHOME: ${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3 + PYTHONNOUSERSITE: 1 + run: | + ctest -C ${{env.BUILD_TYPE}} -V --timeout 300 -LE performance + + - name: Info + # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64), + # which need the NVIDIA driver; the GPU-less runner can't load the exe. + if: matrix.build_name != 'windows-2022-cuda' + working-directory: ${{github.workspace}}/build/bin + run: | + ./rtabmap-console --version - name: Build Windows Package shell: pwsh @@ -73,11 +297,6 @@ jobs: shell: pwsh run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension } - - name: Info - working-directory: ${{github.workspace}}/build/bin - run: | - ./rtabmap-console --version - - name: Upload RTABMap Artifacts (ZIP) uses: actions/upload-artifact@v4 with: @@ -98,10 +317,3 @@ jobs: compression-level: 0 if-no-files-found: warn retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }} - -# - name: Test -# working-directory: ${{github.workspace}}/build -# # Execute tests defined by the CMake configuration. -# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail -# run: ctest -C ${{env.BUILD_TYPE}} - diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml new file mode 100644 index 00000000..fa8c30fc --- /dev/null +++ b/.github/workflows/coverage.yml @@ -0,0 +1,205 @@ +name: Coverage + +on: + push: + branches: + - master + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' + pull_request: + branches: + - '**' + paths-ignore: *platform_only + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} + cancel-in-progress: ${{ github.event_name == 'pull_request' }} + +permissions: + contents: read + id-token: write + +env: + BUILD_TYPE: Debug + +jobs: + coverage: + name: Coverage (ubuntu-24.04) + runs-on: ubuntu-24.04 + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} + + steps: + - uses: actions/checkout@v4 + + - name: Restore test data + id: cache-testdata + uses: actions/cache@v4 + with: + # Same key as the other workflows so all of them share one entry. + path: data/tests/*.db + key: testdata-${{ hashFiles('data/tests/manifest.txt') }} + + - name: Fetch test data + if: steps.cache-testdata.outputs.cache-hit != 'true' + shell: bash + run: bash scripts/fetch_test_data.sh + + - name: Install Linux dependencies + run: | + DEBIAN_FRONTEND=noninteractive + sudo apt-get update + sudo apt-get install -y \ + lcov \ + libopencv-dev \ + libpcl-dev \ + git \ + cmake \ + software-properties-common \ + libyaml-cpp-dev \ + libg2o-dev \ + libceres-dev \ + curl \ + gnupg \ + lsb-release + + # GTSAM and libpointmatcher are not in the Ubuntu archive, and + # borglab's gtsam PPAs have no noble packages (gtsam-release-4.2 has + # no noble suite; gtsam-develop's noble Packages index is empty). The + # ROS 2 repo ships both for noble, which is also what the ROS CI jobs + # test against, so take them from there. + sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ + -o /usr/share/keyrings/ros-archive-keyring.gpg + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \ + | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + sudo apt-get update + sudo apt-get install -y \ + ros-jazzy-gtsam \ + ros-jazzy-libpointmatcher + + - name: Configure CMake + run: | + cmake -B ${{ github.workspace }}/build \ + -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \ + -DENABLE_COVERAGE=ON \ + -DCMAKE_PREFIX_PATH=/opt/ros/jazzy \ + -DBUILD_TESTING=ON \ + -DBUILD_APP=OFF \ + -DBUILD_TOOLS=OFF \ + -DBUILD_EXAMPLES=OFF \ + -DWITH_QT=OFF \ + -DWITH_PYTHON=OFF \ + -DWITH_CERES=ON \ + -DWITH_G2O=ON \ + -DWITH_GTSAM=ON \ + -DWITH_MRPT=OFF \ + -DWITH_CVSBA=OFF \ + -DWITH_POINTMATCHER=ON \ + -DWITH_CCCORELIB=OFF \ + -DWITH_OPEN3D=OFF \ + -DWITH_LOAM=OFF \ + -DWITH_FLOAM=OFF \ + -DWITH_LIOSAM=OFF \ + -DWITH_FLYCAPTURE2=OFF \ + -DWITH_ZED=OFF \ + -DWITH_ZEDOC=OFF \ + -DWITH_REALSENSE=OFF + + - name: Build + run: cmake --build ${{ github.workspace }}/build -j$(nproc) + + - name: Test + working-directory: ${{ github.workspace }}/build + run: | + # The ROS packages are not on the default loader path. Both + # directories are needed: GTSAM and libpointmatcher land in + # /opt/ros/jazzy/lib, but gtsam's own libmetis-gtsam.so goes to the + # multiarch subdirectory, and libgtsam.so carries no RUNPATH, so the + # loader can only find it through LD_LIBRARY_PATH. + ROS_LIB=/opt/ros/jazzy/lib + export LD_LIBRARY_PATH="${{ github.workspace }}/build/bin:${ROS_LIB}:${ROS_LIB}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" + find ${{ github.workspace }}/build -name '*.gcda' -delete + # Unit tests only ("long" is the end-to-end replay suite). + # + # Two reasons. It costs ~90 min in this instrumented -O0 build, 94% of + # the job's test time, for ~3 points of coverage. And running it on + # some events but not others makes the numbers incomparable: Codecov + # measures a pull request against master, so a unit-only PR report + # against a full master report reads as a coverage regression on every + # PR. Same scope everywhere keeps the comparison meaningful. + # + # The replays still run (and gate) in the cmake-linux / macos / + # windows jobs; they are just not measured here. + ctest -V -LE "long|performance" + + - name: Generate LCOV report + run: | + GCOV_VER="$(gcc -dumpversion | cut -d. -f1)" + if command -v "gcov-${GCOV_VER}" >/dev/null 2>&1; then + GCOV_TOOL="gcov-${GCOV_VER}" + else + GCOV_TOOL="gcov" + fi + LCOV_IGNORE=(--ignore-errors gcov,source,graph,mismatch,unused) + + # The whole of corelib/utilite, test objects included, not just their src/. + # An inline function defined in a header is emitted in whichever + # translation unit wins comdat folding, which is often a test one, and + # its counters then live in that unit's .gcda: capturing only src/ + # reports such a function as uncovered however often it is called. The + # test sources themselves are dropped below, after the counters are read. + lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \ + --capture \ + --directory ${{ github.workspace }}/build/corelib \ + --directory ${{ github.workspace }}/build/utilite \ + --output-file lcov.info + + lcov "${LCOV_IGNORE[@]}" --extract lcov.info \ + '${{ github.workspace }}/*' \ + --output-file lcov.info + # The test sources are the instrument, not the subject: a line in a + # test counts as uncovered only when the test skipped it (a defensive + # cleanup branch, a platform guard), which says nothing about the + # library. They are also near-fully covered by construction, so + # leaving them in inflates the overall number. Excluded here, before + # the upload, so the HTML artifact, the summary below and Codecov all + # report the same figure. Kept in sync with coverage-report.sh. + lcov "${LCOV_IGNORE[@]}" --remove lcov.info \ + '*/sqlite3/*' \ + '*/rtflann/*' \ + '*/corelib/test/*' \ + '*/utilite/test/*' \ + '*/_deps/*' \ + --output-file lcov.info + + lcov --summary lcov.info + + - name: HTML coverage report + run: genhtml --ignore-errors source,mismatch lcov.info --output-directory coverage-html --legend --demangle-cpp + + - name: Upload HTML coverage artifact + uses: actions/upload-artifact@v4 + with: + name: coverage-html + path: coverage-html + retention-days: 14 + + - name: Upload to Codecov + if: ${{ env.CODECOV_TOKEN != '' }} + uses: codecov/codecov-action@v5 + with: + files: lcov.info + # Upload ONLY lcov.info. By default the CLI also searches the tree and + # runs gcov over every .gcno it finds, uploading those .gcov files + # alongside -- which re-introduced corelib/test and utilite/test on + # Codecov even though the lcov --remove step had dropped them (the + # HTML artifact, built from the same lcov.info, was correctly clean). + disable_search: true + plugins: noop + token: ${{ env.CODECOV_TOKEN }} + fail_ci_if_error: false diff --git a/.github/workflows/docker-ros.yml b/.github/workflows/docker-ros.yml new file mode 100644 index 00000000..80d5dae2 --- /dev/null +++ b/.github/workflows/docker-ros.yml @@ -0,0 +1,227 @@ +name: docker-ros + +# ROS images: focal/noetic (ROS1) and jammy/humble, noble/jazzy, noble-kilted, +# resolute (ROS2). Android images live in android.yml. +# +# Every arch is built natively: amd64 on an x86 runner, arm64 on a GitHub +# arm64 runner, so no QEMU emulation is involved. Because a single Docker Hub +# tag cannot hold two independently pushed architectures, each build pushes an +# arch-suffixed tag (e.g. :resolute-amd64 / :resolute-arm64) and a final job +# joins them into the real multi-arch tag (:resolute) with `imagetools create`. +# +# The runner image only hosts the build; it does not have to match the Ubuntu +# release inside the image, so ubuntu-26.04{,-arm} is used for all of them +# (ubuntu-22.04{,-arm} and ubuntu-24.04{,-arm} also exist, if ever needed). +# That is also why focal can sit in this matrix: a 20.04 userland runs fine on +# a newer host kernel, and ros:noetic-perception publishes a native arm64 image. + +on: + push: + branches: + - 'master' + paths-ignore: &platform_only + - '.github/workflows/android.yml' + - '.github/workflows/ios.yml' + - 'app/android/**' + - 'app/ios/**' + - 'docker/noble/android/**' + pull_request: + branches: + - '**' + paths-ignore: *platform_only + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} + cancel-in-progress: true + +jobs: + docker_deps: + + # The ###-deps images used to be too flaky to build here at all (seg faults, + # arm64 build timeouts under QEMU -- see + # https://github.com/introlab/rtabmap/issues/1454) and had to be built by + # hand from a 20.04 box with an upgraded qemu-user-static. Building each + # arch natively removes that cause. + # Skipped on pull requests; built and pushed only from master (push or + # manual dispatch), since it pushes the :*-deps tags to Docker Hub. + # + # focal is deliberately absent: its ROS1/noetic deps are frozen, so + # :focal-deps is built by hand on the rare occasion it changes. The focal + # runtime image below still builds here, FROM the published :focal-deps. + if: github.ref == 'refs/heads/master' + + runs-on: ${{ matrix.runner }} + + strategy: + fail-fast: false + matrix: + docker_dir: [jammy, noble, noble-kilted, resolute] + arch: [amd64, arm64] + include: + - arch: amd64 + runner: ubuntu-26.04 + docker_platform: linux/amd64 + - arch: arm64 + runner: ubuntu-26.04-arm + docker_platform: linux/arm64 + + steps: + - + name: Checkout + uses: actions/checkout@v4 + - + name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + - + name: Login to DockerHub + 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: true + platforms: ${{ matrix.docker_platform }} + file: ./docker/${{ matrix.docker_dir }}/deps/Dockerfile + tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }} + cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }} + cache-to: type=inline + + docker_deps_manifest: + needs: docker_deps + # Same gate as docker_deps, so both are skipped together on pull requests + # (github.ref is refs/pull//merge there): the per-arch -deps tags this + # joins are only ever pushed from master. + if: ${{ !cancelled() && !failure() && github.ref == 'refs/heads/master' }} + runs-on: ubuntu-26.04 + + strategy: + fail-fast: false + matrix: + docker_dir: [jammy, noble, noble-kilted, resolute] + + steps: + - + name: Login to DockerHub + uses: docker/login-action@v3 + with: + username: ${{ secrets.DOCKERHUB_USERNAME }} + password: ${{ secrets.DOCKERHUB_TOKEN }} + - + name: Create multi-arch manifest + run: | + docker buildx imagetools create \ + -t introlab3it/rtabmap:${{ matrix.docker_dir }}-deps \ + introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-amd64 \ + introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-arm64 + + docker: + needs: docker_deps_manifest + # Run even when the deps jobs are skipped (they are, on pull requests): + # the runtime Dockerfiles then pull the :*-deps manifest already on Docker Hub. + # A manual dispatch is honored only on master, the only ref we push from. + if: ${{ !cancelled() && !failure() && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }} + runs-on: ${{ matrix.runner }} + + strategy: + fail-fast: false + matrix: + docker_dir: [focal, jammy, noble, noble-kilted, resolute] + arch: [amd64, arm64] + include: + - arch: amd64 + runner: ubuntu-26.04 + docker_platform: linux/amd64 + - arch: arm64 + runner: ubuntu-26.04-arm + docker_platform: linux/arm64 + + 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: ${{ matrix.docker_platform }} + file: ./docker/${{ matrix.docker_dir }}/Dockerfile + build-args: | + RUN_TESTS=1 + tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }} + cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }} + cache-to: type=inline + + docker_manifest: + needs: docker + # Nothing to join on pull requests, where the per-arch tags are never pushed. + if: ${{ !cancelled() && !failure() && github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }} + runs-on: ubuntu-26.04 + + strategy: + fail-fast: false + matrix: + docker_dir: [focal, jammy, noble, noble-kilted, resolute] + include: + - docker_dir: focal + docker_tags: | + introlab3it/rtabmap:focal + introlab3it/rtabmap:20.04 + - docker_dir: jammy + docker_tags: | + introlab3it/rtabmap:jammy + introlab3it/rtabmap:22.04 + - docker_dir: noble + docker_tags: | + introlab3it/rtabmap:noble + introlab3it/rtabmap:24.04 + - docker_dir: noble-kilted + docker_tags: | + introlab3it/rtabmap:noble-kilted + # :latest tracks the newest ROS2 image (currently resolute, ROS2 lyrical + # on ubuntu 26.04) -- move it along with the next distro bump. + - docker_dir: resolute + docker_tags: | + introlab3it/rtabmap:resolute + introlab3it/rtabmap:26.04 + introlab3it/rtabmap:latest + + steps: + - + name: Login to DockerHub + uses: docker/login-action@v3 + with: + username: ${{ secrets.DOCKERHUB_USERNAME }} + password: ${{ secrets.DOCKERHUB_TOKEN }} + - + name: Create multi-arch manifest + env: + DOCKER_TAGS: ${{ matrix.docker_tags }} + run: | + tag_args=() + while read -r tag; do + if [ -n "$tag" ]; then + tag_args+=(-t "$tag") + fi + done <<< "$DOCKER_TAGS" + docker buildx imagetools create "${tag_args[@]}" \ + introlab3it/rtabmap:${{ matrix.docker_dir }}-amd64 \ + introlab3it/rtabmap:${{ matrix.docker_dir }}-arm64 diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml deleted file mode 100644 index 3fcfd2c1..00000000 --- a/.github/workflows/docker.yml +++ /dev/null @@ -1,240 +0,0 @@ -name: docker - -on: - push: - branches: - - 'master' - pull_request: - branches: - - '**' - -concurrency: - group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} - cancel-in-progress: ${{ github.event_name == 'pull_request' }} - -jobs: - docker_deps: - - # Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...) - # Only way I was able to build all images is to do it from a ubuntu 20.04 computer with: - # $ sudo add-apt-repository ppa:canonical-server/server-backports - # $ sudo apt-get update - # $ sudo apt-get upgrade qemu-user-static - # $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes - # More info: https://github.com/introlab/rtabmap/issues/1454 - # Skipped on pull requests; built and pushed only on push to master. - if: github.event_name != 'pull_request' - - runs-on: ubuntu-latest - - strategy: - fail-fast: false - matrix: - docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps] - include: - - docker_tag: focal-deps - docker_tags: | - introlab3it/rtabmap:focal-deps - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'focal/deps' - - docker_tag: jammy-deps - docker_tags: | - introlab3it/rtabmap:jammy-deps - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'jammy/deps' - - docker_tag: noble-deps - docker_tags: | - introlab3it/rtabmap:noble-deps - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'noble/deps' - - docker_tag: noble-kilted-deps - docker_tags: | - introlab3it/rtabmap:noble-kilted-deps - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'noble-kilted/deps' - - docker_tag: resolute-deps - docker_tags: | - introlab3it/rtabmap:resolute-deps - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'resolute/deps' - - steps: - - - name: Checkout - uses: actions/checkout@v2 - - - name: Set up QEMU - uses: docker/setup-qemu-action@v3 - with: - platforms: all - - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 - - - name: Login to DockerHub - 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: true - platforms: ${{ matrix.docker_platforms }} - file: ./docker/${{ matrix.docker_path }}/Dockerfile - tags: ${{ matrix.docker_tags }} - cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }} - cache-to: type=inline - - docker: - needs: docker_deps - # Run even when docker_deps is skipped (it is, on pull requests). - if: ${{ !cancelled() && !failure() }} - runs-on: ubuntu-latest - - strategy: - fail-fast: false - matrix: - docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, android23, android24, android26, android30] - include: - - docker_tag: bionic - docker_tags: | - introlab3it/rtabmap:bionic - introlab3it/rtabmap:18.04 - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'bionic' - - docker_tag: focal - docker_tags: | - introlab3it/rtabmap:focal - introlab3it/rtabmap:20.04 - introlab3it/rtabmap:latest - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'focal' - - docker_tag: jammy - docker_tags: | - introlab3it/rtabmap:jammy - introlab3it/rtabmap:22.04 - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'jammy' - - docker_tag: noble - docker_tags: | - introlab3it/rtabmap:noble - introlab3it/rtabmap:24.04 - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'noble' - - docker_tag: noble-kilted - docker_tags: | - introlab3it/rtabmap:noble-kilted - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'noble-kilted' - - docker_tag: resolute - docker_tags: | - introlab3it/rtabmap:resolute - introlab3it/rtabmap:26.04 - docker_args: | - NOT_USED=0 - docker_platforms: | - linux/amd64 - linux/arm64 - docker_path: 'resolute' - - docker_tag: android23 - docker_tags: | - introlab3it/rtabmap:android23 - introlab3it/rtabmap:tango - docker_args: | - API_VERSION=23 - docker_platforms: | - linux/amd64 - docker_path: 'noble/android/rtabmap_apiXX' - - docker_tag: android24 - docker_tags: | - introlab3it/rtabmap:android24 - docker_args: | - API_VERSION=24 - docker_platforms: | - linux/amd64 - docker_path: 'noble/android/rtabmap_apiXX' - - docker_tag: android26 - docker_tags: | - introlab3it/rtabmap:android26 - docker_args: | - API_VERSION=26 - docker_platforms: | - linux/amd64 - docker_path: 'noble/android/rtabmap_apiXX' - - docker_tag: android30 - docker_tags: | - introlab3it/rtabmap:android30 - docker_args: | - API_VERSION=30 - docker_platforms: | - linux/amd64 - docker_path: 'noble/android/rtabmap_apiXX' - - steps: - - - name: Checkout - uses: actions/checkout@v2 - - - name: Set up QEMU - uses: docker/setup-qemu-action@v3 - with: - platforms: all - - - 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: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }} - file: ./docker/${{ matrix.docker_path }}/Dockerfile - build-args: | - ${{ matrix.docker_args }} - tags: ${{ matrix.docker_tags }} - cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }} - cache-to: type=inline - diff --git a/.github/workflows/docs-preview-cleanup.yml b/.github/workflows/docs-preview-cleanup.yml new file mode 100644 index 00000000..118bec08 --- /dev/null +++ b/.github/workflows/docs-preview-cleanup.yml @@ -0,0 +1,54 @@ +name: Documentation preview cleanup + +# Removes the per-PR documentation preview published by docs.yml under +# gh-pages:preview/pr-/ once the pull request is closed (merged or not). +# +# Deliberately has no `paths` filter: docs.yml only publishes a preview when +# documentation-related files changed, but this must fire for every close so a +# preview can never be orphaned on the branch. +on: + pull_request: + types: [closed] + +permissions: + contents: read + +jobs: + cleanup: + name: Remove PR preview + # Forks never get a preview (their token is read-only), so nothing to clean. + if: github.event.pull_request.head.repo.full_name == github.repository + runs-on: ubuntu-24.04 + + # Same group as docs.yml's publish job: both push to gh-pages, and two + # concurrent pushes would collide. + concurrency: + group: gh-pages-publish + cancel-in-progress: false + + permissions: + contents: write + + steps: + - name: Checkout gh-pages + uses: actions/checkout@v4 + with: + ref: gh-pages + fetch-depth: 1 + + - name: Remove preview directory + env: + PREVIEW_DIR: preview/pr-${{ github.event.number }} + run: | + set -eux + if [[ ! -d "${PREVIEW_DIR}" ]]; then + echo "No preview at ${PREVIEW_DIR}, nothing to do." + exit 0 + fi + git config user.name 'github-actions[bot]' + git config user.email 'github-actions[bot]@users.noreply.github.com' + git rm -r --quiet "${PREVIEW_DIR}" + # Drop the parent too once the last preview is gone. + rmdir preview 2>/dev/null || true + git commit -m "Remove preview for PR #${{ github.event.number }}" + git push diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml new file mode 100644 index 00000000..b869be00 --- /dev/null +++ b/.github/workflows/docs.yml @@ -0,0 +1,218 @@ +name: Documentation + +on: + push: + branches: + - master + tags: + - '*' + # Publishing commits to the gh-pages branch, so only run when something that + # affects the documentation actually changed. Use the manual "Run workflow" + # button if a deploy is needed outside of these paths. + paths: &docs_paths + - '.github/workflows/docs.yml' + - 'CMakeLists.txt' + - 'Doxyfile.in' + - 'docs-report.sh' + - 'website/**' + - 'doxygen/**' + - 'package.xml' + - 'corelib/include/**' + - 'utilite/include/**' + pull_request: + branches: + - '**' + paths: *docs_paths + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} + cancel-in-progress: ${{ github.event_name == 'pull_request' }} + +permissions: + contents: read + +jobs: + build: + name: Build site (ubuntu-24.04) + runs-on: ubuntu-24.04 + + outputs: + version: ${{ steps.site.outputs.version }} + + steps: + - uses: actions/checkout@v4 + + - name: Install dependencies + run: | + DEBIAN_FRONTEND=noninteractive + sudo apt-get update + sudo apt-get install -y \ + doxygen \ + graphviz \ + cmake \ + libopencv-dev \ + libpcl-dev \ + libyaml-cpp-dev \ + git + + # Configures build-docs (CMake generates the export headers that are part + # of Doxygen's INPUT), runs Doxygen into build-docs/api/latest/. Same + # script used locally, so a local preview matches what gets published. + - name: Generate C++ API documentation (Doxygen) + run: ./docs-report.sh + + # The theme emits absolute asset links built from site.baseurl, which + # GitHub's own Jekyll infers from the repository (/rtabmap). A PR preview + # is served from a deeper path, so those links would 404 there. Pin + # baseurl to the path this particular build gets published to. + - name: Set Jekyll baseurl + run: | + set -eux + if [ "${{ github.event_name }}" = "pull_request" ]; then + baseurl="/${{ github.event.repository.name }}/preview/pr-${{ github.event.number }}" + else + baseurl="/${{ github.event.repository.name }}" + fi + echo "baseurl: ${baseurl}" >> website/_config.yml + + # Landing page: built here rather than by GitHub's own Jekyll, so that + # .nojekyll can be set below and the Doxygen output is served untouched. + - name: Build landing page (Jekyll) + uses: actions/jekyll-build-pages@v1 + with: + source: ./website + destination: ./_site + + - name: Assemble site + id: site + run: | + set -eux + # jekyll-build-pages is a container action running as root, so _site + # comes back owned by root and the steps below (running as the runner + # user) cannot write into it. + sudo chown -R "$(id -u):$(id -g)" _site + + # Serve everything verbatim: the site is already built, and Jekyll + # would otherwise skip Doxygen files/folders starting with '_'. + touch _site/.nojekyll + + mkdir -p _site/api + cp -r build-docs/api/latest _site/api/latest + + # On a release tag (plain X.Y.Z, not the ROS-distro variants such as + # 0.23.7-jazzy), also publish under the version number. Older versions + # already on the branch are preserved by keep_files when publishing. + version="" + if [[ "${GITHUB_REF_TYPE}" == "tag" && "${GITHUB_REF_NAME}" =~ ^[0-9]+\.[0-9]+\.[0-9]+$ ]]; then + version="${GITHUB_REF_NAME}" + cp -r build-docs/api/latest "_site/api/${version}" + fi + echo "version=${version}" >> "$GITHUB_OUTPUT" + + # The dropdown list is maintained by hand in the repository (one entry + # per release) and shared by every published version -- see the header + # comment in doxygen/versions.js. + cp doxygen/versions.js _site/api/versions.js + + # /api/ has no content of its own: send it to the current docs so a + # bare .../api/ link lands somewhere useful instead of a 404. The + # target is relative, so it works at the site root and under a + # preview prefix alike. + printf '%s\n' \ + '' \ + '' \ + 'RTAB-Map API documentation' \ + '' \ + '' \ + '

Redirecting to the latest API documentation.

' \ + > _site/api/index.html + + test -f _site/index.html + test -f _site/api/index.html + test -f _site/api/latest/index.html + + - name: Upload site artifact + uses: actions/upload-artifact@v4 + with: + name: documentation-site + path: _site + # include-hidden-files keeps .nojekyll, which the publish job needs. + include-hidden-files: true + retention-days: 14 + + publish: + name: Publish to gh-pages + needs: build + # Forks are skipped for pull requests: their GITHUB_TOKEN is read-only, and + # granting write access to a workflow that builds untrusted code would be a + # security hole. + if: >- + github.event_name != 'pull_request' || + github.event.pull_request.head.repo.full_name == github.repository + runs-on: ubuntu-24.04 + + # Serialize every push to gh-pages, including the preview cleanup workflow, + # and never cancel one in flight: two concurrent pushes would collide. + concurrency: + group: gh-pages-publish + cancel-in-progress: false + + permissions: + contents: write + + steps: + - name: Download site + uses: actions/download-artifact@v4 + with: + name: documentation-site + path: _site + + # Pull requests go to preview/pr-/, everything else to the site + # root. keep_files preserves what this run does not carry: the published + # version folders (api/0.23.x/) and the other PRs' previews. + - name: Publish + uses: peaceiris/actions-gh-pages@v4 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_branch: gh-pages + publish_dir: ./_site + destination_dir: ${{ github.event_name == 'pull_request' && format('preview/pr-{0}', github.event.number) || '' }} + keep_files: true + # Do not let the action drop a .nojekyll at the *branch root*: that + # disables Jekyll for everything on the branch, including content + # published outside this deployment. The site we publish carries its + # own .nojekyll inside destination_dir, which is the only place it + # should apply. + enable_jekyll: true + user_name: 'github-actions[bot]' + user_email: 'github-actions[bot]@users.noreply.github.com' + commit_message: >- + ${{ github.event_name == 'pull_request' + && format('Preview for PR #{0}', github.event.number) + || format('Update documentation ({0})', needs.build.outputs.version || 'latest') }} + + - name: Link the site + run: | + base="https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}" + if [[ "${{ github.event_name }}" == "pull_request" ]]; then + url="${base}/preview/pr-${{ github.event.number }}" + note="Removed automatically when this pull request is closed." + else + url="${base}" + note="" + fi + { + echo "### Documentation" + echo "" + echo "- Landing page: ${url}/" + echo "- C++ API: ${url}/api/latest/" + # An `if` rather than `[[ ... ]] && { ... }`: as the last command in + # the group, a false test would make the group (and so the whole + # step) exit 1. `note` is empty on push, which failed every master + # run while pull requests passed. + if [[ -n "${note}" ]]; then + echo "" + echo "${note}" + fi + } >> "$GITHUB_STEP_SUMMARY" diff --git a/.github/workflows/ios.yml b/.github/workflows/ios.yml index a035941d..37dd5403 100644 --- a/.github/workflows/ios.yml +++ b/.github/workflows/ios.yml @@ -16,6 +16,7 @@ on: branches: - '**' paths: *ios_paths + workflow_dispatch: concurrency: group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} diff --git a/.gitignore b/.gitignore index 5b6152a9..62dc7222 100644 --- a/.gitignore +++ b/.gitignore @@ -12,3 +12,23 @@ compile_flags.txt tags build_* *.bak +build-* + +# Coverage (coverage-report.sh / .github/workflows/coverage.yml) +coverage-html/ +lcov.info +*.gcda +*.gcno + +# Doxygen (docs-report.sh / .github/workflows/docs.yml) +doc/ +# Byte-code of doxygen/generate_parameters_page.py +__pycache__/ +# Generated from Doxyfile.in by CMake. +Doxyfile + +# Windows bundle: vcpkg tree, build output, and deps built from source (bundle_windows_deps.bat) +vcpkg/ +vcpkg_installed/ +vcpkg_binaries/ +vcpkg_deps_from_source/ diff --git a/CMakeLists.txt b/CMakeLists.txt index 3fd1801d..8b55e49f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,7 +22,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules") ####################### SET(RTABMAP_MAJOR_VERSION 0) SET(RTABMAP_MINOR_VERSION 23) -SET(RTABMAP_PATCH_VERSION 7) +SET(RTABMAP_PATCH_VERSION 13) SET(RTABMAP_VERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION}) @@ -63,10 +63,6 @@ ELSE() option(FLANN_KDTREE_MEM_OPT "Disable multi-threaded FLANN kd-tree to minimize memory allocations" ON) ENDIF() -IF(FLANN_KDTREE_MEM_OPT) - ADD_DEFINITIONS("-DFLANN_KDTREE_MEM_OPT") -ENDIF(FLANN_KDTREE_MEM_OPT) - IF(WIN32 AND NOT MINGW) ADD_DEFINITIONS("-DNOMINMAX") ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986") @@ -85,6 +81,11 @@ endif() if(POLICY CMP0072) cmake_policy(SET CMP0072 NEW) endif() +# Timestamp the files extracted from a FetchContent URL download at extraction +# time, so a changed URL actually triggers a rebuild of what depends on them. +if(POLICY CMP0135) + cmake_policy(SET CMP0135 NEW) +endif() IF(MINGW) # Hide the --enable-auto-import warning @@ -167,6 +168,68 @@ ENDIF(APPLE OR WIN32) OPTION(BUILD_APP "Build main application" ON) OPTION(BUILD_TOOLS "Build tools" ON) OPTION(BUILD_EXAMPLES "Build examples" ON) +# Off by default: it downloads the Doxygen theme at configure time, which an +# ordinary build has no reason to need. Set by docs-report.sh. +OPTION(BUILD_DOCUMENTATION "Prepare the API documentation build (downloads the Doxygen theme)" OFF) + +# The unit tests are host executables run by ctest, which can't be done from a +# cross-compiled Android/iOS build. +if(ANDROID OR IOS OR CMAKE_SYSTEM_NAME STREQUAL "iOS") + set(BUILD_TESTING OFF CACHE BOOL "Build the testing tree." FORCE) +endif() + +# Performance tests are benchmarks: they report times, memory and recall +# instead of asserting on them, as those depend on the machine. They are built +# by default so they cannot rot, but are labelled "performance" so that a run +# opts in with `ctest -L performance` and CI opts out with `ctest -LE +# performance`. They can also be run directly, e.g. bin/test_flann_index_perf. +OPTION(BUILD_PERF_TESTS "Build the performance tests (see ctest -L performance)" ON) + +include(CTest) +if(BUILD_TESTING) + # Add GTest using FetchContent + include(FetchContent) + FetchContent_Declare( + googletest + URL https://github.com/google/googletest/archive/refs/tags/v1.16.0.zip + ) + FetchContent_GetProperties(googletest) + if(NOT googletest_POPULATED) + FetchContent_Populate(googletest) + add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR}) + endif() + include(GoogleTest) + set(TEST_DATA_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/data" + CACHE PATH "Root directory holding the test fixtures (data/tests/*.db)") +endif() + +OPTION(ENABLE_COVERAGE "Build with gcov/lcov coverage (GCC/Clang, Debug only; see coverage-report.sh)" OFF) +IF(ENABLE_COVERAGE) + IF(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") + MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires GCC or Clang with gcov/lcov (current: ${CMAKE_CXX_COMPILER_ID}).") + ENDIF() + IF(NOT CMAKE_BUILD_TYPE STREQUAL "Debug") + MESSAGE(FATAL_ERROR "ENABLE_COVERAGE requires CMAKE_BUILD_TYPE=Debug (current: \"${CMAKE_BUILD_TYPE}\").") + ENDIF() + MESSAGE(STATUS "Coverage instrumentation enabled") + ADD_COMPILE_OPTIONS(--coverage -O0 -g) + ADD_LINK_OPTIONS(--coverage) +ENDIF() + +# Check UDEBUG/UINFO/UWARN/UERROR/uFormat format strings against their +# arguments. +# -Wno-format-zero-length: UDEBUG("") is used deliberately as a trace point +# -Wformat-security: non-literal format strings, e.g. UERROR(uFormat(...).c_str()) +OPTION(ENABLE_FORMAT_ERRORS "Treat log/uFormat format-string mismatches as errors (GCC/Clang)" OFF) +IF(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") + ADD_COMPILE_OPTIONS(-Wformat -Wformat-security -Wno-format-zero-length) + IF(ENABLE_FORMAT_ERRORS) + MESSAGE(STATUS "Format-string mismatches are errors") + ADD_COMPILE_OPTIONS(-Werror=format -Werror=format-security) + ENDIF() +ELSEIF(ENABLE_FORMAT_ERRORS) + MESSAGE(WARNING "ENABLE_FORMAT_ERRORS has no effect on ${CMAKE_CXX_COMPILER_ID} (needs GCC/Clang)") +ENDIF() ####### DEPENDENCIES ####### IF(MOBILE_BUILD) @@ -208,7 +271,7 @@ option(WITH_REALSENSE "Include RealSense support" ON) option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON) option(WITH_REALSENSE2 "Include RealSense2 support" ON) option(WITH_MYNTEYE "Include mynteye-s support" ON) -option(WITH_DEPTHAI "Include depthai-core support" OFF) +option(WITH_DEPTHAI "Include depthai-core v2 support" OFF) option(WITH_XVSDK "Include XVisio SDK support" OFF) option(WITH_ORBBEC_SDK "Include Orbbec SDK v2 support" OFF) option(WITH_OCTOMAP "Include OctoMap support" ON) @@ -241,7 +304,25 @@ option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.") set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6) -FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) +# OpenCV components. calib3d was split into "calib" + "geometry" in OpenCV 5. +# These lists are reused below to generate RTABMapConfig.cmake so downstream +# find_package(RTABMap) requests the same components this build used. +SET(RTABMAP_OpenCV_COMPONENTS_5 core imgproc highgui stitching photo video videoio calib geometry) +SET(RTABMAP_OpenCV_COMPONENTS_4 core imgproc highgui stitching photo video videoio calib3d) +SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5 objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) +SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4 aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc) + +# Probe OpenCV without a version constraint first, then request the components +# matching the detected major version. A version-constrained find that fails to +# match (e.g. asking for 5 when only 4 is present) resets OpenCV_DIR to NOTFOUND, +# which breaks toolchain builds that rely on a -DOpenCV_DIR hint (e.g. Android, +# where CMAKE_FIND_ROOT_PATH restricts the search). +FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core) +IF(OpenCV_VERSION_MAJOR GREATER 4) + FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5}) +ELSE() + FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4}) +ENDIF() IF(WITH_QT) FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) @@ -539,14 +620,7 @@ IF(WITH_GTSAM) # Force config mode to ignore PCL's findGTSAM.cmake file FIND_PACKAGE(GTSAM CONFIG QUIET) IF(GTSAM_FOUND) - # For issue https://github.com/introlab/rtabmap/pull/1626 - FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h - PATHS ${GTSAM_INCLUDE_DIR} - NO_DEFAULT_PATH) - IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE) - MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h") - ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N") - ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE) + INCLUDE(${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/CheckGTSAMFeatures.cmake) ENDIF(GTSAM_FOUND) ENDIF(WITH_GTSAM) @@ -711,7 +785,9 @@ IF(WITH_MYNTEYE) ENDIF(WITH_MYNTEYE) IF(WITH_DEPTHAI) - FIND_PACKAGE(depthai 2.24) + # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet + # supported (see CameraDepthAI). + FIND_PACKAGE(depthai 2.24...<3.0) IF(depthai_FOUND) MESSAGE(STATUS "Found depthai-core (targets)") ENDIF(depthai_FOUND) @@ -981,6 +1057,7 @@ IF(NOT MSVC) ENDIF() + ####### OSX BUNDLE CMAKE_INSTALL_PREFIX ####### IF(APPLE AND BUILD_AS_BUNDLE) IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)) @@ -1243,6 +1320,15 @@ ENDIF() CONFIGURE_FILE(Version.h.in ${CMAKE_CURRENT_BINARY_DIR}/corelib/src/include/${PROJECT_PREFIX}/core/Version.h) +# API documentation (Doxygen). Off by default: preparing it downloads the theme, +# spawns Doxygen to regenerate the HTML header and runs the parameter-page +# generator, none of which an ordinary build needs. docs-report.sh turns it on; +# see also .github/workflows/docs.yml. +IF(BUILD_DOCUMENTATION) + INCLUDE(RTABMapDocumentation) + RTABMAP_SETUP_DOCUMENTATION() +ENDIF(BUILD_DOCUMENTATION) + ADD_SUBDIRECTORY( utilite ) ADD_SUBDIRECTORY( corelib ) @@ -1318,6 +1404,18 @@ install(EXPORT rtabmapTargets #### # Setup RTABMapConfig.cmake #### +IF(OpenCV_VERSION_MAJOR GREATER 4) + SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5}) + SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_5}) +ELSE() + SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4}) + SET(CONF_OPENCV_OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS_4}) +ENDIF() +STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}") +STRING(REPLACE ";" " " CONF_OPENCV_OPTIONAL_COMPONENTS "${CONF_OPENCV_OPTIONAL_COMPONENTS}") +# Pin the OpenCV major version so downstream projects find the same major RTAB-Map was +# built against +SET(CONF_OPENCV_VERSION_MAJOR ${OpenCV_VERSION_MAJOR}) include(CMakePackageConfigHelpers) write_basic_package_version_file( "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" @@ -1463,6 +1561,10 @@ MESSAGE(STATUS " CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}") MESSAGE(STATUS " BUILD_APP = ${BUILD_APP}") MESSAGE(STATUS " BUILD_TOOLS = ${BUILD_TOOLS}") MESSAGE(STATUS " BUILD_EXAMPLES = ${BUILD_EXAMPLES}") +MESSAGE(STATUS " BUILD_TESTING = ${BUILD_TESTING}") +MESSAGE(STATUS " BUILD_PERF_TESTS = ${BUILD_PERF_TESTS}") +MESSAGE(STATUS " ENABLE_COVERAGE = ${ENABLE_COVERAGE}") +MESSAGE(STATUS " ENABLE_FORMAT_ERRORS = ${ENABLE_FORMAT_ERRORS}") IF(NOT WIN32) # see comment above for the BUILD_SHARED_LIBS option on Windows MESSAGE(STATUS " BUILD_SHARED_LIBS = ${BUILD_SHARED_LIBS}") @@ -1484,7 +1586,8 @@ ENDIF(PCL_COMPILE_OPTIONS) MESSAGE(STATUS "") MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :") IF(OpenCV_FOUND) - IF(OPENCV_ARUCO_FOUND) + IF((OpenCV_VERSION_MAJOR LESS 4 AND OPENCV_ARUCO_FOUND) OR + (OpenCV_VERSION_MAJOR GREATER 4 AND OPENCV_OBJDETECT_FOUND)) set(ARUCO_STR "YES") ELSE() set(ARUCO_STR "NO") @@ -1877,7 +1980,7 @@ MESSAGE(STATUS " With DepthAI ${depthai_VERSION} = YES (License: MIT)") ELSEIF(NOT WITH_DEPTHAI) MESSAGE(STATUS " With DepthAI = NO (WITH_DEPTHAI=OFF)") ELSE() -MESSAGE(STATUS " With DepthAI = NO (depthai-core not found)") +MESSAGE(STATUS " With DepthAI = NO (depthai-core v2 not found)") ENDIF() IF(xvsdk_FOUND) diff --git a/Doxyfile.in b/Doxyfile.in new file mode 100644 index 00000000..78ae7694 --- /dev/null +++ b/Doxyfile.in @@ -0,0 +1,2824 @@ +# Doxyfile 1.9.8 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = RTAB-Map + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = @RTABMAP_VERSION@ + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "Real-Time Appearance-Based Mapping" + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096 +# sub-directories (in 2 levels) under the output directory of each output format +# and will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to +# control the number of sub-directories. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# Controls the number of sub-directories that will be created when +# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every +# level increment doubles the number of directories, resulting in 4096 +# directories at level 8 which is the default and also the maximum value. The +# sub-directories are organized in 2 levels, the first level always has a fixed +# number of 16 directories. +# Minimum value: 0, maximum value: 8, default value: 8. +# This tag requires that the tag CREATE_SUBDIRS is set to YES. + +CREATE_SUBDIRS_LEVEL = 8 + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian, +# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English +# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek, +# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with +# English messages), Korean, Korean-en (Korean with English messages), Latvian, +# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, +# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, +# Swedish, Turkish, Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 2 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +# 1: only the top-level headings of the Markdown pages reach the navigation +# tree, which keeps it two levels deep (page, then its sections). +TOC_INCLUDE_HEADINGS = 1 + +# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to +# generate identifiers for the Markdown headings. Note: Every identifier is +# unique. +# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a +# sequence number starting at 0 and GITHUB use the lower case version of title +# with any whitespace replaced by '-' and punctuation characters removed. +# The default value is: DOXYGEN. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +MARKDOWN_ID_STYLE = DOXYGEN + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +# If the TIMESTAMP tag is set different from NO then each generated page will +# contain the date or date and time when the page was generated. Setting this to +# NO can help when comparing the output of multiple runs. +# Possible values are: YES, NO, DATETIME and DATE. +# The default value is: NO. + +TIMESTAMP = NO + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# will also hide undocumented C++ concepts if enabled. This option has no effect +# if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +# Off: \todo notes are for whoever works on the code, not for the published API +# reference (they are still visible in the sources). +GENERATE_TODOLIST = NO + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about +# undocumented enumeration values. If set to NO, doxygen will accept +# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: NO. + +WARN_IF_UNDOC_ENUM_VAL = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves +# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not +# write the warning messages in between other messages but write them at the end +# of a run, in case a WARN_LOGFILE is defined the warning messages will be +# besides being in the defined file also be shown at the end of a run, unless +# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case +# the behavior will remain as with the setting FAIL_ON_WARNINGS. +# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = doxygen/mainpage.md \ + doxygen/tools.md \ + @RTABMAP_DOXYGEN_PARAMETERS_PAGE@ \ + corelib/include \ + utilite/include \ + build-docs/corelib/src/include + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding +# "INPUT_ENCODING" for further information on supported encodings. + +INPUT_FILE_ENCODING = + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm, +# *.cpp, *.cppm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, +# *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, *.php, +# *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be +# provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# ANamespace::AClass, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = doxygen/mainpage.md + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS +# tag is set to YES then doxygen will add the directory of each input to the +# include path. +# The default value is: YES. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) +# that should be ignored while generating the index headers. The IGNORE_PREFIX +# tag works for classes, function and member names. The entity will be placed in +# the alphabetical list under the first letter of the entity name that remains +# after removing the prefix. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = @RTABMAP_DOXYGEN_HEADER@ + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# Note: Since the styling of scrollbars can currently not be overruled in +# Webkit/Chromium, the styling will be left out of the default doxygen.css if +# one or more extra stylesheets have been specified. So if scrollbar +# customization is desired it has to be added explicitly. For an example see the +# documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +# Doxygen Awesome (MIT), fetched by CMake -- empty when BUILD_DOCUMENTATION is +# off. The theme requires GENERATE_TREEVIEW=YES and HTML_COLORSTYLE=LIGHT: it +# brings its own dark mode, driven by the toggle button and the browser. +HTML_EXTRA_STYLESHEET = @RTABMAP_DOXYGEN_STYLESHEETS@ + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = @PROJECT_SOURCE_DIR@/doxygen/version-switcher.js \ + @RTABMAP_DOXYGEN_AWESOME_TOGGLE@ + +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. +# Possible values are: LIGHT always generate light mode output, DARK always +# generate dark mode output, AUTO_LIGHT automatically set the mode according to +# the user preference, use light mode if no preference is set (the default), +# AUTO_DARK automatically set the mode according to the user preference, use +# dark mode if no preference is set and TOGGLE allow to user to switch between +# light and dark mode via a button. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = LIGHT + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be +# dynamically folded and expanded in the generated HTML source code. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_CODE_FOLDING = YES + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# The SITEMAP_URL tag is used to specify the full URL of the place where the +# generated documentation will be placed on the server by the user during the +# deployment of the documentation. The generated sitemap is called sitemap.xml +# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL +# is specified no sitemap is generated. For information about the sitemap +# protocol see https://www.sitemaps.org +# This tag requires that the tag GENERATE_HTML is set to YES. + +SITEMAP_URL = + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = @RTABMAP_DOXYGEN_TREEVIEW_WIDTH@ + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdn.jsdelivr.net/npm/mathjax@2 + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /