mirror of
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
@@ -0,0 +1,182 @@
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name: 'Install macOS Source Dependencies'
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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.'
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inputs:
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os:
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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.'
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required: true
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build_type:
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description: 'CMake build type.'
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required: false
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default: 'Release'
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runs:
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using: "composite"
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steps:
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- name: Resolve dependency versions
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id: depver
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shell: bash
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# The source deps link against these Homebrew libraries and are compiled
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# with Xcode's toolchain, so both are folded into the cache keys: a
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# Homebrew bump (e.g. a new Eigen) or an Xcode update 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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# ----------------------------- GTSAM -----------------------------
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- name: Cache GTSAM
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id: cache-gtsam
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uses: actions/cache@v4
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with:
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path: ${{ runner.temp }}/deps-stage/gtsam
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key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}
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- name: Build GTSAM
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if: steps.cache-gtsam.outputs.cache-hit != 'true'
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shell: bash
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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.action_path }}/patches"
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SRC="${{ runner.temp }}/src-deps/gtsam"
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STAGE="${{ runner.temp }}/deps-stage/gtsam"
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rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
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git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$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=${{ inputs.build_type }} \
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-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
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-DGTSAM_WITH_TBB=OFF \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
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-DGTSAM_BUILD_TESTS=OFF \
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-DGTSAM_BUILD_UNSTABLE=OFF \
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-DGTSAM_USE_SYSTEM_EIGEN=ON \
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-DCMAKE_POLICY_VERSION_MINIMUM=3.5
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# ----------------- libnabo + libpointmatcher --------------------
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# Built together: libpointmatcher depends on libnabo, so keeping them in one
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# unit keeps the build order internal (lpm finds libnabo in the unit's stage).
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- name: Cache pointmatcher
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id: cache-pointmatcher
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uses: actions/cache@v4
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with:
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path: ${{ runner.temp }}/deps-stage/pointmatcher
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key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ 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 }}
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- name: Build pointmatcher
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if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
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shell: bash
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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.action_path }}/patches"
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SRC="${{ runner.temp }}/src-deps/pointmatcher"
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STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
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rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
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# libnabo (required by libpointmatcher)
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git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$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=${{ inputs.build_type }}
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# libpointmatcher (finds libnabo from the unit's staged prefix)
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git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$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=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$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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# ----------------------------- OrbbecSDK ------------------------
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- name: Cache OrbbecSDK
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id: cache-orbbec
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uses: actions/cache@v4
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with:
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path: ${{ runner.temp }}/deps-stage/orbbec
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key: orbbec-2.8.7-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}
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- name: Build OrbbecSDK
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if: steps.cache-orbbec.outputs.cache-hit != 'true'
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shell: bash
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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.action_path }}/patches"
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SRC="${{ runner.temp }}/src-deps/orbbec"
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STAGE="${{ runner.temp }}/deps-stage/orbbec"
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rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
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git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$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=${{ inputs.build_type }} -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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# ----------------------------- depthai --------------------------
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- name: Cache depthai
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id: cache-depthai
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uses: actions/cache@v4
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with:
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path: ${{ runner.temp }}/deps-stage/depthai
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key: depthai-2.32.0-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
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- name: Build depthai
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if: steps.cache-depthai.outputs.cache-hit != 'true'
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shell: bash
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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.action_path }}/patches"
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SRC="${{ runner.temp }}/src-deps/depthai"
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STAGE="${{ runner.temp }}/deps-stage/depthai"
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rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
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# depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
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git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
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cd "$SRC/depthai-core"
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git submodule update --init --recursive
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# Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
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# TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
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git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
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# v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
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# runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
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# propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
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# (Hunter reuses the same cmake binary for its dependency sub-builds).
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python3 -m venv "$SRC/cmake3-venv"
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"$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
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CMAKE3="$SRC/cmake3-venv/bin/cmake"
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# DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
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# fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
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"$CMAKE3" -B build \
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-DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
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-DBUILD_SHARED_LIBS=ON \
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-DDEPTHAI_ENABLE_CURL=OFF \
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-DDEPTHAI_BUILD_TESTS=OFF \
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-DDEPTHAI_BUILD_EXAMPLES=OFF \
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-DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
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"$CMAKE3" --build build -j$NPROC
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DESTDIR="$STAGE" "$CMAKE3" --install build
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# ------------------- install all units into /usr/local ----------
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- name: Install source dependencies into /usr/local
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shell: bash
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# Copy each (cached or freshly built) staged 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 them up. Runs on both cache hit and miss.
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run: |
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set -e
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STAGE="${{ runner.temp }}/deps-stage"
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found=0
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for unit in gtsam pointmatcher orbbec depthai; do
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if [ -d "$STAGE/$unit/usr/local" ]; then
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sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
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found=1
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fi
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done
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if [ "$found" != "1" ]; then
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echo "No staged source dependencies found under $STAGE" >&2
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exit 1
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fi
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@@ -0,0 +1,41 @@
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diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
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index 6b0b44f98..672c26402 100644
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--- a/cmake/depthaiDependencies.cmake
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+++ b/cmake/depthaiDependencies.cmake
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@@ -17,7 +17,9 @@ else()
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hunter_add_package(FP16)
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hunter_add_package(libarchive-luxonis)
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hunter_add_package(spdlog)
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- hunter_add_package(ZLIB)
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+ # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
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+ # zlib fork fails to build against the modern macOS SDK). Found below via
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+ # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
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if(DEPTHAI_ENABLE_BACKWARD)
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hunter_add_package(Backward)
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endif()
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@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
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# libarchive for firmware packages
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find_package(archive_static ${_QUIET} CONFIG REQUIRED)
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find_package(lzma ${_QUIET} CONFIG REQUIRED)
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- # ZLIB for compressing Apps
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- find_package(ZLIB CONFIG REQUIRED)
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+ # ZLIB for compressing Apps.
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+ # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
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+ # zlib fork fails to build against the modern macOS SDK, and Hunter also
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+ # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
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+ # we locate it manually and expose the ZLIB::zlib target depthai expects.
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+ find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
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+ find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
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+ if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
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+ message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
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+ endif()
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+ if(NOT TARGET ZLIB::zlib)
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+ add_library(ZLIB::zlib UNKNOWN IMPORTED)
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+ set_target_properties(ZLIB::zlib PROPERTIES
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+ IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
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+ INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
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+ )
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+ endif()
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# spdlog for library and device logging
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find_package(spdlog ${_QUIET} CONFIG REQUIRED)
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@@ -26,16 +26,16 @@ jobs:
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include:
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include:
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- build_name: macos-sequoia-intel
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- build_name: macos-sequoia-intel
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os: macos-15-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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- build_name: macos-sequoia-apple-silicon
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os: macos-15
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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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- build_name: macos-tahoe-intel
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os: macos-26-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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- build_name: macos-tahoe-apple-silicon
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os: macos-26
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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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steps:
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- uses: actions/checkout@v4
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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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- name: Install Brew Dependencies
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run: |
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run: |
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# Update brew and install from Brewfile if present, or specific packages
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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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brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
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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="${{ runner.temp }}/src-deps"
|
|
||||||
STAGE="${{ 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
|
|
||||||
|
|
||||||
- name: Install Source Dependencies
|
- name: Install Source Dependencies
|
||||||
# Copy the (possibly cached) staged install tree into /usr/local so
|
# Build (and per-dependency cache) the source-only deps not available from
|
||||||
# rtabmap's find_package() and the bundle fixup (which search /usr/local)
|
# Homebrew, then install them into /usr/local. See the composite action.
|
||||||
# pick the dependencies up. Runs on both cache hit and miss.
|
uses: ./.github/actions/install-macos-source-deps
|
||||||
run: |
|
with:
|
||||||
set -e
|
os: ${{ matrix.os }}
|
||||||
STAGE="${{ runner.temp }}/deps-stage"
|
build_type: ${{ env.BUILD_TYPE }}
|
||||||
if [ ! -d "$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/
|
|
||||||
|
|
||||||
- name: Configure CMake
|
- name: Configure CMake
|
||||||
run: |
|
run: |
|
||||||
|
|||||||
Reference in New Issue
Block a user