iOS CI (#1722)

* iOS CI

* g2o hard-coded path

* bump ios version

* Fixed opencv 4.10.0 build on docker resolute

.github/workflows/ios.yml

@@ -0,0 +1,114 @@
+name: iOS
+
+on:
+  push:
+    branches:
+      - master
+    paths: &ios_paths
+      - '.github/workflows/ios.yml'
+      - 'app/ios/**'
+      - 'app/android/jni/**'
+      - 'corelib/**'
+      - 'utilite/**'
+      - 'cmake_modules/**'
+      - 'CMakeLists.txt'
+  pull_request:
+    branches:
+      - '**'
+    paths: *ios_paths
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+env:
+  # Pre-built iOS dependencies (content of app/ios/RTABMapApp/Libraries, generated by install_deps.sh).
+  # Bump this when the dependency set changes (must match the Xcode toolchain below).
+  DEPS_URL: https://github.com/introlab/rtabmap/releases/download/0.23.1/libraries-ios-xcode26.5.zip
+  XCODE_VERSION: '26.5'
+
+jobs:
+  build:
+    name: build-ios
+    # macos-26 (Tahoe) ships Xcode 26.x, matching the toolchain used to build the prebuilt libraries.
+    runs-on: macos-26
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Select Xcode ${{ env.XCODE_VERSION }}
+        uses: maxim-lobanov/setup-xcode@v1
+        with:
+          xcode-version: ${{ env.XCODE_VERSION }}
+
+      - name: Versions
+        run: |
+          xcodebuild -version
+          cmake --version || brew install cmake
+
+      - name: Cache prebuilt dependencies archive
+        id: deps-cache
+        uses: actions/cache@v4
+        with:
+          path: deps.zip
+          # Keyed on the archive URL (release tag + filename), so the cache is
+          # reused until DEPS_URL is bumped, regardless of other workflow edits.
+          key: ${{ runner.os }}-ios-deps-${{ env.DEPS_URL }}
+
+      - name: Download prebuilt dependencies
+        if: steps.deps-cache.outputs.cache-hit != 'true'
+        run: curl -L "$DEPS_URL" -o deps.zip
+
+      - name: Extract dependencies into Libraries
+        run: |
+          set -eux
+          mkdir -p app/ios/RTABMapApp/Libraries
+          rm -rf deps_extract && mkdir -p deps_extract
+          unzip -q deps.zip -d deps_extract
+          # The archive holds the *content* of the Libraries folder (include/ lib/ share/),
+          # but tolerate an extra top-level Libraries/ wrapper just in case.
+          if [ -d deps_extract/Libraries ]; then
+            SRC=deps_extract/Libraries
+          else
+            SRC=deps_extract
+          fi
+          cp -R "$SRC"/. app/ios/RTABMapApp/Libraries/
+          test -d app/ios/RTABMapApp/Libraries/include
+          test -d app/ios/RTABMapApp/Libraries/lib
+
+      - name: Build rtabmap core (third-party deps are skipped, already provided by the archive)
+        working-directory: app/ios/RTABMapApp
+        run: ./install_deps.sh
+
+      - name: Build RTABMapApp
+        run: |
+          xcodebuild \
+            -project app/ios/RTABMapApp.xcodeproj \
+            -scheme RTABMapApp \
+            -configuration Release \
+            -sdk iphoneos \
+            -destination 'generic/platform=iOS' \
+            -derivedDataPath build \
+            CODE_SIGNING_ALLOWED=NO \
+            CODE_SIGNING_REQUIRED=NO \
+            CODE_SIGN_IDENTITY="" \
+            DEVELOPMENT_TEAM="" \
+            build
+
+      - name: Package app (unsigned .ipa)
+        run: |
+          set -eux
+          APP_DIR="build/Build/Products/Release-iphoneos"
+          rm -rf Payload && mkdir Payload
+          cp -R "$APP_DIR/RTABMapApp.app" Payload/
+          # Unsigned .ipa: not installable as-is, but ready for later (re)signing.
+          zip -q -r RTABMapApp-unsigned.ipa Payload
+
+      - name: Upload app artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: RTABMapApp-ios-unsigned
+          path: RTABMapApp-unsigned.ipa
+          compression-level: 0
+          if-no-files-found: error
+          retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

app/ios/RTABMapApp.xcodeproj/project.pbxproj

@@ -1065,7 +1065,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.22.0;
+				MARKETING_VERSION = 0.23.7;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1125,7 +1125,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.22.0;
+				MARKETING_VERSION = 0.23.7;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;

app/ios/RTABMapApp/install_deps.sh

@@ -175,6 +175,18 @@ cd $pwd
 #rm -rf g2o
 fi
 
+# g2o's installed CMake config hard-codes the absolute build-time prefix of its
+# external dependencies (e.g. suitesparse) in INTERFACE_INCLUDE_DIRECTORIES. That
+# path doesn't exist when the prebuilt Libraries archive is unpacked on another
+# machine (CI), breaking find_package(g2o) with "includes non-existent path".
+# Rewrite those absolute paths to be relocatable (relative to the config file).
+# Run unconditionally (outside the build guard above) so it also fixes the prebuilt
+# archive in CI, where the g2o build step is skipped.
+find "$prefix/lib" -path '*/cmake/g2o/*.cmake' -print0 | while IFS= read -r -d '' f
+do
+  sed -i '' -E 's#[^";]*/Libraries#${CMAKE_CURRENT_LIST_DIR}/../../..#g' "$f"
+done
+
 # VTK
 if [ ! -e $prefix/lib/vtk.framework ]
 then

docker/resolute/deps/Dockerfile

@@ -84,6 +84,8 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
 RUN git clone --branch 4.10.0 https://github.com/opencv/opencv.git && \
     git clone --branch 4.10.0 https://github.com/opencv/opencv_contrib.git && \
     cd opencv && \
+    # FFmpeg 7/8 compatibility (Ubuntu 26.04): avcodec_close / av_stream_get_side_data removed
+    git -c user.email=docker@build -c user.name=docker cherry-pick -x 90c444abd387ffa70b2e72a34922903a2f0f4f5a 443d0ae63fad6dfd8c485d609203db16c8bd0ec3 && \
     mkdir build && \
     cd build && \
     cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \