orbbec ci

.github/patches/orbbecsdk-2.8.7-cmake-config-install.patch

@@ -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)

.github/workflows/cmake-macos.yml

@@ -26,16 +26,16 @@ jobs:
         include:
         - build_name: macos-sequoia-intel
           os: macos-15-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
         - build_name: macos-sequoia-apple-silicon
           os: macos-15
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
         - build_name: macos-tahoe-intel
           os: macos-26-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
         - build_name: macos-tahoe-apple-silicon
           os: macos-26
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON'
 
     steps:
     - uses: actions/checkout@v4
@@ -43,7 +43,7 @@ jobs:
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap g2o pdal yaml-cpp
+        brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb
 
     - name: Resolve dependency versions
       id: depver
@@ -109,7 +109,31 @@ jobs:
         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="$STAGE/usr/local"
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ 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
 

CMakeLists.txt

@@ -208,7 +208,7 @@ option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
-option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
+option(WITH_DEPTHAI       "Include depthai-core v2 support"      OFF)
 option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
 option(WITH_ORBBEC_SDK    "Include Orbbec SDK v2 support"        OFF)
 option(WITH_OCTOMAP       "Include OctoMap support"              ON)
@@ -711,7 +711,9 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)
 
 IF(WITH_DEPTHAI)
-    FIND_PACKAGE(depthai 2.24)
+    # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet
+    # supported (see CameraDepthAI).
+    FIND_PACKAGE(depthai 2.24...<3.0)
     IF(depthai_FOUND)
        MESSAGE(STATUS "Found depthai-core (targets)")
     ENDIF(depthai_FOUND)
@@ -1877,7 +1879,7 @@ MESSAGE(STATUS "  With DepthAI ${depthai_VERSION}       = YES (License: MIT)")
 ELSEIF(NOT WITH_DEPTHAI)
 MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
 ELSE()
-MESSAGE(STATUS "  With DepthAI              = NO (depthai-core not found)")
+MESSAGE(STATUS "  With DepthAI              = NO (depthai-core v2 not found)")
 ENDIF()
 
 IF(xvsdk_FOUND)