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MacOS and Windows binaries update (0.23.8) (#1726)

Browse Source 
* Windows CI: more sensor drivers + Windows/macOS bundle scripts

* added opengv to mac build

* windows bundle fixes

* zed extra neural ddl in separate package

* OpenGV macos eigen version error

* opengv macos build issues
This commit is contained in:
matlabbe
2026-07-01 18:11:28 -07:00
committed by GitHub
parent 9d30b174e6
commit cb34c4bd37
27 changed files with 1587 additions and 81 deletions
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225
.github/actions/install-macos-source-deps/action.yml vendored Normal file
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@@ -0,0 +1,225 @@
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: ${{ runner.temp }}/deps-stage/depthai
key: depthai-2.32.0-usrlocal-${{ 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=${{ inputs.build_type }} \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_SHARED_LIBS=ON \
-DDEPTHAI_ENABLE_CURL=OFF \
-DDEPTHAI_BUILD_TESTS=OFF \
-DDEPTHAI_BUILD_EXAMPLES=OFF \
-DCMAKE_PREFIX_PATH="$(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
# ------------------- 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="${{ runner.temp }}/deps-stage"
found=0
for unit in gtsam pointmatcher orbbec depthai opengv; do
if [ -d "$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

41
.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch vendored Normal file
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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)

83
.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch vendored Normal file
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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 */

87
.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch vendored Normal file
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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>

32
.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch vendored Normal file
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@@ -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)

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.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch vendored Normal file
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@@ -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>

29
.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch vendored Normal file
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)

4
.github/actions/install-windows-cuda-deps/action.yml vendored
View File

@@ -46,7 +46,9 @@ 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

2
.github/actions/install-windows-deps/action.yml vendored
View File

@@ -34,4 +34,6 @@ 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

46
.github/workflows/cmake-macos.yml vendored
View File

@@ -26,20 +26,16 @@ jobs:
include:
- build_name: macos-sequoia-intel
os: macos-15-intel
extra_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=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_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=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_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=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_deps: ""
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
steps:
- uses: actions/checkout@v4
@@ -47,7 +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
brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
- 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: |
@@ -61,19 +65,19 @@ 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

19
.github/workflows/cmake-windows.yml vendored
View File

@@ -27,11 +27,11 @@ 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
@@ -46,9 +46,24 @@ 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 }} `
-DVCPKG_MANIFEST_INSTALL=OFF `
-DVCPKG_TARGET_TRIPLET=x64-windows-release `