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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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41
.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch vendored Normal file
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@@ -0,0 +1,41 @@
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)

309
.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
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@@ -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)