mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
CI(macos): build source deps from source with caching
Add a CI step to build GTSAM 4.2.1, libnabo 1.1.2 and libpointmatcher 1.4.4 from source (not available/usable from Homebrew), with patches under .github/patches fixing Eigen 5 / Boost compatibility. Installs are staged via DESTDIR into an actions/cache directory and copied into /usr/local. The cache key includes the pinned versions, the patch hashes, and the linked Homebrew (eigen/boost/yaml-cpp) + Xcode toolchain versions, so the deps rebuild only when something relevant changes. Also add yaml-cpp brew dep and drop the unused extra_deps matrix field. Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
This commit is contained in:
matlabbe
co-authored by
Claude Opus 4.8
Claude Opus 4.8
parent
3bc13cab98
commit
febbb49523
@@ -0,0 +1,83 @@
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diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
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index b3b4f66b6..651cd1009 100644
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--- a/cmake/HandleEigen.cmake
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+++ b/cmake/HandleEigen.cmake
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@@ -59,7 +59,12 @@ else()
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endif()
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# Detect Eigen version:
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-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
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+# to a dedicated Eigen/Version header, so check the new location first.
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+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
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+if (NOT EXISTS ${EIGEN_VER_H})
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+ set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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+endif()
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if (EXISTS ${EIGEN_VER_H})
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
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index cfedf6d8c..9c9771407 100644
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--- a/gtsam/base/Matrix.h
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+++ b/gtsam/base/Matrix.h
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@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
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using Matrix8##N = Eigen::Matrix<double, 8, N>; \
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using Matrix9##N = Eigen::Matrix<double, 9, N>; \
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static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
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-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
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+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
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GTSAM_MAKE_MATRIX_DEFS(1)
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GTSAM_MAKE_MATRIX_DEFS(2)
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diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
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index f7923ff88..5410393f6 100644
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--- a/gtsam/base/Vector.h
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+++ b/gtsam/base/Vector.h
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@@ -27,6 +27,7 @@
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#include <gtsam/global_includes.h>
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#include <Eigen/Core>
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+#include <cassert>
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#include <iosfwd>
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#include <list>
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@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
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typedef Eigen::Vector2d Vector2;
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typedef Eigen::Vector3d Vector3;
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-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
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-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
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+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
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+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
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// Create handy typedefs and constants for vectors with N>3
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// VectorN and Z_Nx1, for N=1..9
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#define GTSAM_MAKE_VECTOR_DEFS(N) \
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using Vector##N = Eigen::Matrix<double, N, 1>; \
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- static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
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+ static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
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GTSAM_MAKE_VECTOR_DEFS(4)
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GTSAM_MAKE_VECTOR_DEFS(5)
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diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
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index 22f65b8de..20a0c936e 100644
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--- a/gtsam/linear/iterative.h
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+++ b/gtsam/linear/iterative.h
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@@ -61,7 +61,7 @@ namespace gtsam {
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/** Apply operator A'*e */
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Vector operator^(const Vector& e) const {
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- return A_ ^ e;
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+ return gtsam::operator^(A_, e);
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}
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/**
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@@ -71,7 +71,7 @@ namespace gtsam {
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/** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
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Vector gradient(const Vector& x) const {
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- return A() ^ (A() * x - b());
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+ return gtsam::operator^(A(), Vector(A() * x - b()));
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}
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/** Apply operator A */
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@@ -0,0 +1,87 @@
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index a5f0c44..69340e4 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -78,18 +78,18 @@ elseif ()
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endif ()
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endif ()
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-# enable C++11 support.
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+# enable C++14 support (required by recent Eigen versions).
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if (CMAKE_VERSION VERSION_LESS "3.1")
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if (MSVC)
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message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
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endif ()
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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- set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
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+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
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else ()
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- set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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+ set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
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endif ()
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else ()
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- set (CMAKE_CXX_STANDARD 11)
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+ set (CMAKE_CXX_STANDARD 14)
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endif ()
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#======================== External Dependencies ===============================
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diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
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index 302b672..d63fcd3 100644
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--- a/experimental/kdtree_cpu.cpp
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+++ b/experimental/kdtree_cpu.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "nabo_experimental.h"
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#include "../nabo/index_heap.h"
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+#include <cassert>
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#include <iostream>
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#include <stdexcept>
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#include <limits>
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diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
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index cb1f8d1..52a444f 100644
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--- a/nabo/kdtree_cpu.cpp
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+++ b/nabo/kdtree_cpu.cpp
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@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <queue>
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#include <algorithm>
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#include <utility>
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+#include <cassert>
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#ifdef HAVE_OPENMP
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#include <omp.h>
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#endif
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diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
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index 5a9fee2..fb1345f 100644
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--- a/nabo/kdtree_opencl.cpp
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+++ b/nabo/kdtree_opencl.cpp
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "nabo_private.h"
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#include "index_heap.h"
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+#include <cassert>
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#include <iostream>
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#include <sstream>
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#include <fstream>
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diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
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index 6f4d3fc..c612378 100644
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--- a/tests/knnshow.cpp
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+++ b/tests/knnshow.cpp
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "nabo/nabo.h"
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+#include <cassert>
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#include <iostream>
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#include <fstream>
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#include <stdexcept>
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diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
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index 2430249..2a7dcc4 100644
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--- a/tests/knnvalidate.cpp
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+++ b/tests/knnvalidate.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "nabo/nabo.h"
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#include "helpers.h"
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//#include "experimental/nabo_experimental.h"
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+#include <cassert>
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#include <iostream>
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#include <fstream>
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#include <stdexcept>
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@@ -0,0 +1,32 @@
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 9dabfd0..7b73418 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -128,9 +128,9 @@ endif()
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#--------------------
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# DEPENDENCY: boost
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#--------------------
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-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
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+find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
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if (Boost_MINOR_VERSION GREATER 47)
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- find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
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+ find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
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endif ()
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#--------------------
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diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
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index 6de2c85..7c887fd 100644
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--- a/libpointmatcherConfig.cmake.in
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+++ b/libpointmatcherConfig.cmake.in
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@@ -7,9 +7,9 @@
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include(CMakeFindDependencyMacro)
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find_dependency(libnabo REQUIRED)
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find_dependency(yaml-cpp REQUIRED)
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-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
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+find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
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if (Boost_MINOR_VERSION GREATER 47)
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- find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
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+ find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
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endif ()
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include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
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@@ -26,19 +26,15 @@ jobs:
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include:
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- build_name: macos-sequoia-intel
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os: macos-15-intel
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
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- build_name: macos-sequoia-apple-silicon
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os: macos-15
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
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- build_name: macos-tahoe-intel
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os: macos-26-intel
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
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- build_name: macos-tahoe-apple-silicon
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os: macos-26
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
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steps:
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@@ -47,7 +43,88 @@ jobs:
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- name: Install Brew Dependencies
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run: |
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# Update brew and install from Brewfile if present, or specific packages
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brew install pcl opencv octomap g2o pdal
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brew install pcl opencv octomap g2o pdal yaml-cpp
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- name: Resolve dependency versions
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id: depver
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# The source dependencies link against these Homebrew libraries and are
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# compiled with Xcode's toolchain, so both are folded into the source-deps
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# cache key: a Homebrew bump (e.g. a new Eigen) or an Xcode update
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# invalidates the cache and 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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- name: Cache Source Dependencies
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id: cache-src-deps
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uses: actions/cache@v4
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with:
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# Staged install tree (DESTDIR) of the source-built dependencies.
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path: ${{ runner.temp }}/deps-stage
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# Rebuild when the OS image, pinned versions, patches, the linked
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# Homebrew library versions or the Xcode toolchain change.
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key: src-deps-${{ matrix.os }}-gtsam4.2.1-libnabo1.1.2-lpm1.4.4-deps${{ steps.depver.outputs.hash }}-${{ hashFiles('.github/patches/*.patch') }}
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- name: Build Source Dependencies
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# Dependencies not available (or not in a usable version) from Homebrew are
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# built from source and staged into the cached directory via DESTDIR.
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# Patches under .github/patches fix compatibility with the current Homebrew
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# Eigen/Boost versions. Skipped entirely on a cache hit.
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if: steps.cache-src-deps.outputs.cache-hit != 'true'
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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.workspace }}/.github/patches"
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SRC="${{ runner.temp }}/src-deps"
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STAGE="${{ runner.temp }}/deps-stage"
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mkdir -p "$SRC" "$STAGE"
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# --- GTSAM 4.2.1 ---
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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 "$PATCHES/gtsam-4.2.1-eigen5.patch"
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cmake -B build \
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-DCMAKE_BUILD_TYPE=${{ env.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 1.1.2 (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 "$PATCHES/libnabo-1.1.2.patch"
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cmake -B build -DCMAKE_BUILD_TYPE=${{ env.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 1.4.4 (finds libnabo from the 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 "$PATCHES/libpointmatcher-1.4.4-boost.patch"
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cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local"
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cmake --build build -j$NPROC
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DESTDIR="$STAGE" cmake --install build
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- name: Install Source Dependencies
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# Copy the (possibly cached) staged install tree into /usr/local so
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# rtabmap's find_package() and the bundle fixup (which search /usr/local)
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# pick the dependencies up. Runs on both cache hit and miss.
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run: |
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set -e
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STAGE="${{ runner.temp }}/deps-stage"
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if [ ! -d "$STAGE/usr/local" ]; then
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echo "No staged dependencies found at $STAGE/usr/local" >&2
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exit 1
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fi
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sudo cp -a "$STAGE/usr/local/." /usr/local/
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- name: Configure CMake
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run: |
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Reference in New Issue
Block a user