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Merge branch 'master' of github.com:introlab/rtabmap into kilted-devel

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matlabbe
2026-10-01 09:12:55 -07:00
parent 63f7037202 20b040a77a
commit 6cc7be2d5e
445 changed files with 171485 additions and 6642 deletions
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.github/actions/install-macos-source-deps/action.yml
+267
View File
@@ -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="$SRC/cmake3-venv/bin/cmake"
# DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
# fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
# depthai-core defaults its install prefix to <build>/install; force
# /usr/local so it stages under usr/local like the other deps.
"$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 "$SRC/g2o"
git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
# CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
# other deps. Homebrew's libomp is keg-only and g2o does not propagate
# OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
# libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
LIBOMP=$(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
.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch
+41
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@@ -0,0 +1,41 @@
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
index 6b0b44f98..672c26402 100644
--- a/cmake/depthaiDependencies.cmake
+++ b/cmake/depthaiDependencies.cmake
@@ -17,7 +17,9 @@ else()
hunter_add_package(FP16)
hunter_add_package(libarchive-luxonis)
hunter_add_package(spdlog)
- hunter_add_package(ZLIB)
+ # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
+ # zlib fork fails to build against the modern macOS SDK). Found below via
+ # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
if(DEPTHAI_ENABLE_BACKWARD)
hunter_add_package(Backward)
endif()
@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
# libarchive for firmware packages
find_package(archive_static ${_QUIET} CONFIG REQUIRED)
find_package(lzma ${_QUIET} CONFIG REQUIRED)
- # ZLIB for compressing Apps
- find_package(ZLIB CONFIG REQUIRED)
+ # ZLIB for compressing Apps.
+ # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
+ # zlib fork fails to build against the modern macOS SDK, and Hunter also
+ # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
+ # we locate it manually and expose the ZLIB::zlib target depthai expects.
+ find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
+ find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
+ if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
+ message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
+ endif()
+ if(NOT TARGET ZLIB::zlib)
+ add_library(ZLIB::zlib UNKNOWN IMPORTED)
+ set_target_properties(ZLIB::zlib PROPERTIES
+ IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
+ INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
+ )
+ endif()
# spdlog for library and device logging
find_package(spdlog ${_QUIET} CONFIG REQUIRED)
.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch
+83
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@@ -0,0 +1,83 @@
diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index b3b4f66b6..651cd1009 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -59,7 +59,12 @@ else()
endif()
# Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
+# to a dedicated Eigen/Version header, so check the new location first.
+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
+if (NOT EXISTS ${EIGEN_VER_H})
+ set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
+endif()
if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index cfedf6d8c..9c9771407 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
using Matrix8##N = Eigen::Matrix<double, 8, N>; \
using Matrix9##N = Eigen::Matrix<double, 9, N>; \
static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
GTSAM_MAKE_MATRIX_DEFS(1)
GTSAM_MAKE_MATRIX_DEFS(2)
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index f7923ff88..5410393f6 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -27,6 +27,7 @@
#include <gtsam/global_includes.h>
#include <Eigen/Core>
+#include <cassert>
#include <iosfwd>
#include <list>
@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
typedef Eigen::Vector2d Vector2;
typedef Eigen::Vector3d Vector3;
-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
// Create handy typedefs and constants for vectors with N>3
// VectorN and Z_Nx1, for N=1..9
#define GTSAM_MAKE_VECTOR_DEFS(N) \
using Vector##N = Eigen::Matrix<double, N, 1>; \
- static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
+ static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
GTSAM_MAKE_VECTOR_DEFS(4)
GTSAM_MAKE_VECTOR_DEFS(5)
diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
index 22f65b8de..20a0c936e 100644
--- a/gtsam/linear/iterative.h
+++ b/gtsam/linear/iterative.h
@@ -61,7 +61,7 @@ namespace gtsam {
/** Apply operator A'*e */
Vector operator^(const Vector& e) const {
- return A_ ^ e;
+ return gtsam::operator^(A_, e);
}
/**
@@ -71,7 +71,7 @@ namespace gtsam {
/** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
Vector gradient(const Vector& x) const {
- return A() ^ (A() * x - b());
+ return gtsam::operator^(A(), Vector(A() * x - b()));
}
/** Apply operator A */
.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch
+87
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@@ -0,0 +1,87 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a5f0c44..69340e4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -78,18 +78,18 @@ elseif ()
endif ()
endif ()
-# enable C++11 support.
+# enable C++14 support (required by recent Eigen versions).
if (CMAKE_VERSION VERSION_LESS "3.1")
if (MSVC)
message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
endif ()
if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
- set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
else ()
- set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
endif ()
else ()
- set (CMAKE_CXX_STANDARD 11)
+ set (CMAKE_CXX_STANDARD 14)
endif ()
#======================== External Dependencies ===============================
diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
index 302b672..d63fcd3 100644
--- a/experimental/kdtree_cpu.cpp
+++ b/experimental/kdtree_cpu.cpp
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo_experimental.h"
#include "../nabo/index_heap.h"
+#include <cassert>
#include <iostream>
#include <stdexcept>
#include <limits>
diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
index cb1f8d1..52a444f 100644
--- a/nabo/kdtree_cpu.cpp
+++ b/nabo/kdtree_cpu.cpp
@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <queue>
#include <algorithm>
#include <utility>
+#include <cassert>
#ifdef HAVE_OPENMP
#include <omp.h>
#endif
diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
index 5a9fee2..fb1345f 100644
--- a/nabo/kdtree_opencl.cpp
+++ b/nabo/kdtree_opencl.cpp
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo_private.h"
#include "index_heap.h"
+#include <cassert>
#include <iostream>
#include <sstream>
#include <fstream>
diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
index 6f4d3fc..c612378 100644
--- a/tests/knnshow.cpp
+++ b/tests/knnshow.cpp
@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "nabo/nabo.h"
+#include <cassert>
#include <iostream>
#include <fstream>
#include <stdexcept>
diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
index 2430249..2a7dcc4 100644
--- a/tests/knnvalidate.cpp
+++ b/tests/knnvalidate.cpp
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "nabo/nabo.h"
#include "helpers.h"
//#include "experimental/nabo_experimental.h"
+#include <cassert>
#include <iostream>
#include <fstream>
#include <stdexcept>
.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch
+32
View File
@@ -0,0 +1,32 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9dabfd0..7b73418 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,9 +128,9 @@ endif()
#--------------------
# DEPENDENCY: boost
#--------------------
-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
+find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
if (Boost_MINOR_VERSION GREATER 47)
- find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
+ find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
endif ()
#--------------------
diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
index 6de2c85..7c887fd 100644
--- a/libpointmatcherConfig.cmake.in
+++ b/libpointmatcherConfig.cmake.in
@@ -7,9 +7,9 @@
include(CMakeFindDependencyMacro)
find_dependency(libnabo REQUIRED)
find_dependency(yaml-cpp REQUIRED)
-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
+find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
if (Boost_MINOR_VERSION GREATER 47)
- find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
+ find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
endif ()
include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch
+309
View File
@@ -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 <cassert>
#include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
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 <cassert>
#include <opengv/absolute_pose/MACentralAbsolute.hpp>
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 <cassert>
#include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
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 <cassert>
#include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
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 <cassert>
#include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
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 <cassert>
#include <opengv/absolute_pose/methods.hpp>
#include <opengv/Indices.hpp>
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 <cassert>
#include <Eigen/NonLinearOptimization>
#include <Eigen/NumericalDiff>
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 <cassert>
#include <opengv/math/arun.hpp>
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 <cassert>
#include <opengv/point_cloud/MAPointCloud.hpp>
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 <cassert>
#include <opengv/point_cloud/PointCloudAdapter.hpp>
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 <cassert>
#include <opengv/point_cloud/methods.hpp>
#include <opengv/Indices.hpp>
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 <cassert>
#include <opengv/relative_pose/CentralRelativeAdapter.hpp>
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 <cassert>
#include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
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 <cassert>
#include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
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 <cassert>
#include <opengv/relative_pose/MACentralRelative.hpp>
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 <cassert>
#include <opengv/relative_pose/MANoncentralRelative.hpp>
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 <cassert>
#include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
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 <cassert>
#include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
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 <cassert>
#include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
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 <cassert>
#include <opengv/relative_pose/methods.hpp>
#include <opengv/Indices.hpp>
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 <cassert>
#include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
#include <Eigen/NonLinearOptimization>
#include <Eigen/NumericalDiff>
.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch
+29
View File
@@ -0,0 +1,29 @@
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 261f2cda..644e068f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
- install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
+ install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
include(CMakePackageConfigHelpers)
+ # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
+ # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
+ # discovers it in config mode and reads its version.
write_basic_package_version_file(
- "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
+ "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
VERSION "${PROJECT_VERSION}"
COMPATIBILITY SameMajorVersion
)
install(
- FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
- DESTINATION lib
+ FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
+ DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
)
if(MSVC)
install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)
.github/actions/install-windows-cuda-deps/action.yml
+23 -6
View File
@@ -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
.github/actions/install-windows-deps/action.yml
+22 -5
View File
@@ -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 $env:GITHUB_PATH -Encoding utf8 -Append
.github/scripts/ros-deps-env.sh
+19
View File
@@ -0,0 +1,19 @@
# Puts the graph optimizers taken from the ROS 2 repo (see cmake-linux.yml) on
# the loader path, for a shell that is about to run something built against
# them. Sourced, not executed: it exports into the caller.
#
# source .github/scripts/ros-deps-env.sh /opt/ros/humble
#
# A missing or empty prefix is a build that took every dependency from the
# Ubuntu archive: nothing to add.
#
# Both directories are needed. GTSAM and g2o install their libraries in the
# multiarch subdirectory, while the prefix's own lib/ holds the rest, and
# libgtsam.so carries no RUNPATH -- so the loader finds neither it nor the
# libmetis-gtsam.so it pulls in without being told where to look.
ros_prefix="${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
.github/workflows/android.yml
+93
View File
@@ -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
.github/workflows/cmake-linux.yml
+155 -14
View File
@@ -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" "$core" || true
echo "::endgroup::"
done
.github/workflows/cmake-macos.yml
+119 -35
View File
@@ -4,9 +4,17 @@ on:
push:
branches:
- master
paths-ignore: &platform_only
- '.github/workflows/android.yml'
- '.github/workflows/ios.yml'
- 'app/android/**'
- 'app/ios/**'
- 'docker/noble/android/**'
pull_request:
branches:
branches:
- '**'
paths-ignore: *platform_only
workflow_dispatch:
env:
BUILD_TYPE: Release
@@ -22,36 +30,76 @@ jobs:
strategy:
fail-fast: true
matrix:
build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
build_name: [macos-sequoia-apple-silicon, macos-tahoe-apple-silicon, macos-tahoe-apple-silicon-cv5]
include:
- build_name: macos-sequoia-intel
os: macos-15-intel
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
# macos-sequoia-intel temporarily disabled. Had some g2o optimizer issues.
#- build_name: macos-sequoia-intel
# os: macos-15-intel
# cv: opencv@4
- build_name: macos-sequoia-apple-silicon
os: macos-15
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
- build_name: macos-tahoe-intel
os: macos-26-intel
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
cv: opencv@4
# - build_name: macos-tahoe-intel
# os: macos-26-intel
# cv: opencv@4
- build_name: macos-tahoe-apple-silicon
os: macos-26
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
cv: opencv@4
# - build_name: macos-tahoe-intel-cv5
# os: macos-26-intel
# cv: opencv
- build_name: macos-tahoe-apple-silicon-cv5
os: macos-26
cv: opencv
steps:
- uses: actions/checkout@v4
- name: Restore test data
id: cache-testdata
uses: actions/cache@v4
with:
# SQLite DBs are binary-portable -> share the cache across
# linux / macos / windows. Key omits runner.os on purpose so all
# three OSes hit the same entry.
path: data/tests/*.db
key: testdata-${{ 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}}
.github/workflows/cmake-ros.yml
+79 -11
View File
@@ -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/[email protected]
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/[email protected]
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=${{ steps.testdata.outputs.root }}
.github/workflows/cmake-windows.yml
+228 -16
View File
@@ -4,9 +4,17 @@ on:
push:
branches:
- master
paths-ignore: &platform_only
- '.github/workflows/android.yml'
- '.github/workflows/ios.yml'
- 'app/android/**'
- 'app/ios/**'
- 'docker/noble/android/**'
pull_request:
branches:
branches:
- '**'
paths-ignore: *platform_only
workflow_dispatch:
env:
BUILD_TYPE: Release
@@ -27,15 +35,73 @@ jobs:
- build_name: windows-2022
os: windows-2022
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
- build_name: windows-2022-cuda
os: windows-2022
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'
extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
steps:
- uses: actions/checkout@v4
- name: Restore test data
id: cache-testdata
if: matrix.build_name != 'windows-2022-cuda'
uses: actions/cache@v4
with:
# SQLite DBs are binary-portable -> share the cache across
# linux / macos / windows. Key omits runner.os on purpose so all
# three OSes hit the same entry.
path: data/tests/*.db
key: testdata-${{ 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 <prefix>" 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}}
.github/workflows/coverage.yml
+205
View File
@@ -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
.github/workflows/docker-ros.yml
+227
View File
@@ -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/<n>/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
.github/workflows/docker.yml
-240
View File
@@ -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
.github/workflows/docs-preview-cleanup.yml
+54
View File
@@ -0,0 +1,54 @@
name: Documentation preview cleanup
# Removes the per-PR documentation preview published by docs.yml under
# gh-pages:preview/pr-<number>/ 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
.github/workflows/docs.yml
+218
View File
@@ -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' \
'<!doctype html>' \
'<meta charset="utf-8">' \
'<title>RTAB-Map API documentation</title>' \
'<meta http-equiv="refresh" content="0; url=latest/">' \
'<link rel="canonical" href="latest/">' \
'<p>Redirecting to the <a href="latest/">latest API documentation</a>.</p>' \
> _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-<number>/, 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"
.github/workflows/ios.yml
+1
View File
@@ -16,6 +16,7 @@ on:
branches:
- '**'
paths: *ios_paths
workflow_dispatch:
concurrency:
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}