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CI(macos): extract source deps into composite action with per-dep caches

Browse Source 
Move the source-only dependency builds (GTSAM, libnabo+libpointmatcher,
OrbbecSDK, depthai) out of cmake-macos.yml into a composite action,
.github/actions/install-macos-source-deps, mirroring the existing
install-windows-deps convention. Each dependency now has its own cache
(keyed on its version + patch + the brew/Xcode hash), so bumping one
dependency no longer rebuilds the others. Patches moved next to the
action that applies them.

Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
This commit is contained in:
matlabbe
2026-06-28 15:36:27 -07:00
co-authored by Claude Opus 4.8
parent 75f4fa6bd5
commit a260d7e832
7 changed files with 234 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/actions/install-macos-source-deps/action.yml
+182
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@@ -0,0 +1,182 @@
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: ${{ runner.temp }}/deps-stage/orbbec
key: orbbec-2.8.7-${{ 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"
cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
cmake --build build -j$NPROC
DESTDIR="$STAGE" cmake --install build
# ----------------------------- depthai --------------------------
- name: Cache depthai
id: cache-depthai
uses: actions/cache@v4
with:
path: ${{ runner.temp }}/deps-stage/depthai
key: depthai-2.32.0-${{ 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="$SRC/cmake3-venv/bin/cmake"
# DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
# fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
"$CMAKE3" -B build \
-DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-DBUILD_SHARED_LIBS=ON \
-DDEPTHAI_ENABLE_CURL=OFF \
-DDEPTHAI_BUILD_TESTS=OFF \
-DDEPTHAI_BUILD_EXAMPLES=OFF \
-DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
"$CMAKE3" --build build -j$NPROC
DESTDIR="$STAGE" "$CMAKE3" --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="${{ runner.temp }}/deps-stage"
found=0
for unit in gtsam pointmatcher orbbec depthai; do
if [ -d "$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/patches/gtsam-4.2.1-eigen5.patch → .github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch
View File
.github/patches/libnabo-1.1.2.patch → .github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch
View File
.github/patches/libpointmatcher-1.4.4-boost.patch → .github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch
View File
.github/patches/orbbecsdk-2.8.7-cmake-config-install.patch → .github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch
View File
.github/workflows/cmake-macos.yml
+11 -108
View File
@@ -26,16 +26,16 @@ jobs:
include:
- build_name: macos-sequoia-intel
os: macos-15-intel
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
- build_name: macos-sequoia-apple-silicon
os: macos-15
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
- build_name: macos-tahoe-intel
os: macos-26-intel
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
- build_name: macos-tahoe-apple-silicon
os: macos-26
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
steps:
- uses: actions/checkout@v4
@@ -43,112 +43,15 @@ jobs:
- name: Install Brew Dependencies
run: |
# Update brew and install from Brewfile if present, or specific packages
brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb
- name: Resolve dependency versions
id: depver
# The source dependencies link against these Homebrew libraries and are
# compiled with Xcode's toolchain, so both are folded into the source-deps
# cache key: a Homebrew bump (e.g. a new Eigen) or an Xcode update
# invalidates the cache and 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"
- name: Cache Source Dependencies
id: cache-src-deps
uses: actions/cache@v4
with:
# Staged install tree (DESTDIR) of the source-built dependencies.
path: ${{ runner.temp }}/deps-stage
# Rebuild when the OS image, pinned versions, patches, the linked
# Homebrew library versions or the Xcode toolchain change.
key: src-deps-${{ matrix.os }}-gtsam4.2.1-libnabo1.1.2-lpm1.4.4-deps${{ steps.depver.outputs.hash }}-${{ hashFiles('.github/patches/*.patch') }}
- name: Build Source Dependencies
# Dependencies not available (or not in a usable version) from Homebrew are
# built from source and staged into the cached directory via DESTDIR.
# Patches under .github/patches fix compatibility with the current Homebrew
# Eigen/Boost versions. Skipped entirely on a cache hit.
if: steps.cache-src-deps.outputs.cache-hit != 'true'
run: |
set -e
NPROC=$(sysctl -n hw.logicalcpu)
PATCHES="${{ github.workspace }}/.github/patches"
SRC="${{ runner.temp }}/src-deps"
STAGE="${{ runner.temp }}/deps-stage"
mkdir -p "$SRC" "$STAGE"
# --- GTSAM 4.2.1 ---
git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
cd "$SRC/gtsam"
git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
cmake -B build \
-DCMAKE_BUILD_TYPE=${{ env.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 1.1.2 (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 "$PATCHES/libnabo-1.1.2.patch"
cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
cmake --build build -j$NPROC
DESTDIR="$STAGE" cmake --install build
# --- libpointmatcher 1.4.4 (finds libnabo from the staged prefix) ---
git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
cd "$SRC/libpointmatcher"
git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
cmake --build build -j$NPROC
DESTDIR="$STAGE" cmake --install build
# --- orbbec SDK ---
git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
cd "$SRC/OrbbecSDK_v2"
git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_PREFIX_PATH="$STAGE/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 ---
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
git apply "$PATCHES/depthai-2.32.0-homebrew-no-vcpkg"
PREFIX="$(brew --prefix);$(brew --prefix libarchive);$(brew --prefix openssl@3);$(brew --prefix bzip2);$(brew --prefix zlib)"
cmake -B build --preset minimal \
-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
-DCMAKE_PREFIX_PATH="$STAGE/usr/local" \
-DBUILD_SHARED_LIBS=ON \
-DDEPTHAI_BOOTSTRAP_VCPKG=OFF \
-DDEPTHAI_OPENCV_SUPPORT=ON \
-DCMAKE_PREFIX_PATH="$PREFIX"
cmake --build build -j$NPROC
DESTDIR="$STAGE" cmake --install build
brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
- name: Install Source Dependencies
# Copy the (possibly cached) staged install tree into /usr/local so
# rtabmap's find_package() and the bundle fixup (which search /usr/local)
# pick the dependencies up. Runs on both cache hit and miss.
run: |
set -e
STAGE="${{ runner.temp }}/deps-stage"
if [ ! -d "$STAGE/usr/local" ]; then
echo "No staged dependencies found at $STAGE/usr/local" >&2
exit 1
fi
sudo cp -a "$STAGE/usr/local/." /usr/local/
# 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: |