mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
MacOS and Windows binaries update (0.23.8) (#1726)
* 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
225
.github/actions/install-macos-source-deps/action.yml
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225
.github/actions/install-macos-source-deps/action.yml
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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: ${{ runner.temp }}/deps-stage/orbbec
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key: orbbec-2.8.7-usrlocal-${{ 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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# OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
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# so it stages under usr/local like the other deps and is installed/found.
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cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
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cmake --build build -j$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: ${{ runner.temp }}/deps-stage/depthai
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key: depthai-2.32.0-usrlocal-${{ 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="$SRC/cmake3-venv/bin/cmake"
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# DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
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# fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
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# depthai-core defaults its install prefix to <build>/install; force
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# /usr/local so it stages under usr/local like the other deps.
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"$CMAKE3" -B build \
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-DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
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-DCMAKE_INSTALL_PREFIX=/usr/local \
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-DBUILD_SHARED_LIBS=ON \
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-DDEPTHAI_ENABLE_CURL=OFF \
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-DDEPTHAI_BUILD_TESTS=OFF \
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-DDEPTHAI_BUILD_EXAMPLES=OFF \
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-DCMAKE_PREFIX_PATH="$(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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# ----------------------------- opengv ---------------------------
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- name: Cache opengv
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id: cache-opengv
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uses: actions/cache@v4
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with:
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path: ${{ runner.temp }}/deps-stage/opengv
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key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }}
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- name: Build opengv
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if: steps.cache-opengv.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="${{ runner.temp }}/src-deps/opengv"
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STAGE="${{ runner.temp }}/deps-stage/opengv"
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rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
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# opengv pins a commit (not a tag), so clone then checkout.
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git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv"
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cd "$SRC/opengv"
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
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# Disable the -march=native/armv7-a/armv8-a flags so it builds portably on
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# both Intel and Apple Silicon runners.
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git apply "$PATCHES/opengv-91f4b19c-macos.patch"
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# CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient
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# cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points
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# opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64).
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cmake -B build \
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-DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
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-DCMAKE_INSTALL_PREFIX=/usr/local \
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-DBUILD_TESTS=OFF \
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-DBUILD_SHARED_LIBS=ON \
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-DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
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-DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --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="${{ runner.temp }}/deps-stage"
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found=0
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for unit in gtsam pointmatcher orbbec depthai opengv; do
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if [ -d "$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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