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CI(macos): build source deps from source with caching

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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
2026-06-27 14:45:09 -07:00
co-authored by Claude Opus 4.8
parent 3bc13cab98
commit febbb49523
4 changed files with 284 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/patches/gtsam-4.2.1-eigen5.patch
+83
View File
@@ -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 */
.github/patches/libnabo-1.1.2.patch
+87
View File
@@ -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>
.github/patches/libpointmatcher-1.4.4-boost.patch
+32
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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)