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https://github.com/introlab/rtabmap.git
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CI(macos): extract source deps into composite action with per-dep caches
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
co-authored by
Claude Opus 4.8
Claude Opus 4.8
parent
75f4fa6bd5
commit
a260d7e832
@@ -26,16 +26,16 @@ jobs:
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include:
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- build_name: macos-sequoia-intel
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os: macos-15-intel
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
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- build_name: macos-sequoia-apple-silicon
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os: macos-15
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
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- build_name: macos-tahoe-intel
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os: macos-26-intel
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
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- build_name: macos-tahoe-apple-silicon
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os: macos-26
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
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steps:
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- uses: actions/checkout@v4
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@@ -43,112 +43,15 @@ jobs:
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- name: Install Brew Dependencies
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run: |
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# Update brew and install from Brewfile if present, or specific packages
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brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb
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- name: Resolve dependency versions
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id: depver
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# The source dependencies link against these Homebrew libraries and are
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# compiled with Xcode's toolchain, so both are folded into the source-deps
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# cache key: a Homebrew bump (e.g. a new Eigen) or an Xcode update
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# invalidates the cache and forces a rebuild.
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run: |
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BREW=$(brew list --versions eigen boost yaml-cpp | sort)
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XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
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HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
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echo "hash=$HASH" >> "$GITHUB_OUTPUT"
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- name: Cache Source Dependencies
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id: cache-src-deps
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uses: actions/cache@v4
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with:
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# Staged install tree (DESTDIR) of the source-built dependencies.
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path: ${{ runner.temp }}/deps-stage
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# Rebuild when the OS image, pinned versions, patches, the linked
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# Homebrew library versions or the Xcode toolchain change.
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key: src-deps-${{ matrix.os }}-gtsam4.2.1-libnabo1.1.2-lpm1.4.4-deps${{ steps.depver.outputs.hash }}-${{ hashFiles('.github/patches/*.patch') }}
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- name: Build Source Dependencies
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# Dependencies not available (or not in a usable version) from Homebrew are
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# built from source and staged into the cached directory via DESTDIR.
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# Patches under .github/patches fix compatibility with the current Homebrew
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# Eigen/Boost versions. Skipped entirely on a cache hit.
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if: steps.cache-src-deps.outputs.cache-hit != 'true'
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run: |
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set -e
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NPROC=$(sysctl -n hw.logicalcpu)
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PATCHES="${{ github.workspace }}/.github/patches"
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SRC="${{ runner.temp }}/src-deps"
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STAGE="${{ runner.temp }}/deps-stage"
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mkdir -p "$SRC" "$STAGE"
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# --- GTSAM 4.2.1 ---
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git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
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cd "$SRC/gtsam"
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git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
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cmake -B build \
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-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
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-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
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-DGTSAM_WITH_TBB=OFF \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
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-DGTSAM_BUILD_TESTS=OFF \
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-DGTSAM_BUILD_UNSTABLE=OFF \
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-DGTSAM_USE_SYSTEM_EIGEN=ON \
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-DCMAKE_POLICY_VERSION_MINIMUM=3.5
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# --- libnabo 1.1.2 (required by libpointmatcher) ---
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git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
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cd "$SRC/libnabo"
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git apply "$PATCHES/libnabo-1.1.2.patch"
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cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# --- libpointmatcher 1.4.4 (finds libnabo from the staged prefix) ---
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git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
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cd "$SRC/libpointmatcher"
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git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
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cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# --- orbbec SDK ---
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git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
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cd "$SRC/OrbbecSDK_v2"
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git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
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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
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# --- depthai ---
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git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
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cd "$SRC/depthai-core"
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git submodule update --init --recursive
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git apply "$PATCHES/depthai-2.32.0-homebrew-no-vcpkg"
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PREFIX="$(brew --prefix);$(brew --prefix libarchive);$(brew --prefix openssl@3);$(brew --prefix bzip2);$(brew --prefix zlib)"
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cmake -B build --preset minimal \
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-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
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-DCMAKE_PREFIX_PATH="$STAGE/usr/local" \
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-DBUILD_SHARED_LIBS=ON \
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-DDEPTHAI_BOOTSTRAP_VCPKG=OFF \
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-DDEPTHAI_OPENCV_SUPPORT=ON \
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-DCMAKE_PREFIX_PATH="$PREFIX"
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
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- name: Install Source Dependencies
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# Copy the (possibly cached) staged install tree into /usr/local so
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# rtabmap's find_package() and the bundle fixup (which search /usr/local)
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# pick the dependencies up. Runs on both cache hit and miss.
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run: |
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set -e
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STAGE="${{ runner.temp }}/deps-stage"
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if [ ! -d "$STAGE/usr/local" ]; then
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echo "No staged dependencies found at $STAGE/usr/local" >&2
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exit 1
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fi
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sudo cp -a "$STAGE/usr/local/." /usr/local/
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# Build (and per-dependency cache) the source-only deps not available from
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# Homebrew, then install them into /usr/local. See the composite action.
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uses: ./.github/actions/install-macos-source-deps
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with:
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os: ${{ matrix.os }}
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build_type: ${{ env.BUILD_TYPE }}
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- name: Configure CMake
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run: |
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