mirror of
https://github.com/introlab/rtabmap.git
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matlabbe
16fb2f0541
* CI: use ubuntu arm runners instead of QEMU * removed focal deps docker image ci * run tests in docker ci * revert temporary test * trigger ci jobs with modified files * ldconfig * arm64 ldconfig order * No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0. * fixing ExtractXYZCorrespondencesRANSAC ci error * increased windows timeout (probably caused by gftt fix now extracting more features)
94 lines
3.0 KiB
YAML
94 lines
3.0 KiB
YAML
name: android
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# Android build environments (docker/noble/android/rtabmap_apiXX).
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# amd64 only, so a single native runner and no manifest juggling.
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# Note: these build FROM introlab3it/rtabmap:android-noble-deps, which is not
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# produced by any workflow; it is still built and pushed by hand.
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on:
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push:
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branches:
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- 'master'
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paths: &android_paths
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# What an Android build actually compiles: CMakeLists.txt adds only
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# utilite, corelib and app under IF(ANDROID), and rtabmap.bash builds with
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# WITH_OPENGV=OFF, BUILD_EXAMPLES=OFF, BUILD_TOOLS=OFF.
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- 'CMakeLists.txt'
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- 'Version.h.in'
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- 'RTABMapConfig.cmake.in'
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- 'cmake_uninstall.cmake.in'
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- 'cmake_modules/**'
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- 'utilite/**'
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- 'corelib/**'
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- 'app/**'
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- 'docker/noble/android/**'
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- '.github/workflows/android.yml'
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pull_request:
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branches:
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- '**'
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paths: *android_paths
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workflow_dispatch:
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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docker:
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# A manual dispatch is honored only on master, the only ref we push from.
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if: ${{ github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master' }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [android23, android24, android26, android30]
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include:
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- docker_tag: android23
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docker_tags: |
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introlab3it/rtabmap:android23
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introlab3it/rtabmap:tango
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api_version: 23
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- docker_tag: android24
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docker_tags: |
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introlab3it/rtabmap:android24
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api_version: 24
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- docker_tag: android26
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docker_tags: |
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introlab3it/rtabmap:android26
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api_version: 26
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- docker_tag: android30
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docker_tags: |
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introlab3it/rtabmap:android30
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api_version: 30
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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# Only needed when pushing; skipped on pull requests (secrets are
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# unavailable for fork PRs and we don't push there anyway).
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if: github.event_name != 'pull_request'
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: ${{ github.event_name != 'pull_request' }}
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platforms: linux/amd64
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file: ./docker/noble/android/rtabmap_apiXX/Dockerfile
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build-args: |
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API_VERSION=${{ matrix.api_version }}
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tags: ${{ matrix.docker_tags }}
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cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
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cache-to: type=inline
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