rtabmap/.github/workflows/cmake-macos.yml

name: CMake-MacOS

on:
  push:
    branches: 
      - master
  pull_request:
    branches: 
      - '**'

env:
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    name: ${{ matrix.build_name }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: true
      matrix:
        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
        include:
        - build_name: macos-sequoia-intel
          os: macos-15-intel
          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 -DWITH_ORBBEC_SDK=ON'
        - build_name: macos-tahoe-intel
          os: macos-26-intel
          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 -DWITH_ORBBEC_SDK=ON'

    steps:
    - uses: actions/checkout@v4

    - 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 librealsense libfreenect libusb

    - name: Resolve dependency versions
      id: depver
      # The source dependencies link against these Homebrew libraries and are
      # compiled with Xcode's toolchain, so both are folded into the source-deps
      # cache key: a Homebrew bump (e.g. a new Eigen) or an Xcode update
      # invalidates the cache and forces a rebuild.
      run: |
        BREW=$(brew list --versions eigen boost yaml-cpp | sort)
        XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
        HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
        echo "hash=$HASH" >> "$GITHUB_OUTPUT"

    - name: Cache Source Dependencies
      id: cache-src-deps
      uses: actions/cache@v4
      with:
        # Staged install tree (DESTDIR) of the source-built dependencies.
        path: ${{ runner.temp }}/deps-stage
        # Rebuild when the OS image, pinned versions, patches, the linked
        # Homebrew library versions or the Xcode toolchain change.
        key: src-deps-${{ matrix.os }}-gtsam4.2.1-libnabo1.1.2-lpm1.4.4-deps${{ steps.depver.outputs.hash }}-${{ hashFiles('.github/patches/*.patch') }}

    - name: Build Source Dependencies
      # Dependencies not available (or not in a usable version) from Homebrew are
      # built from source and staged into the cached directory via DESTDIR.
      # Patches under .github/patches fix compatibility with the current Homebrew
      # Eigen/Boost versions. Skipped entirely on a cache hit.
      if: steps.cache-src-deps.outputs.cache-hit != 'true'
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.workspace }}/.github/patches"
        SRC="${{ runner.temp }}/src-deps"
        STAGE="${{ runner.temp }}/deps-stage"
        mkdir -p "$SRC" "$STAGE"

        # --- GTSAM 4.2.1 ---
        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
        cd "$SRC/gtsam"
        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
        cmake -B build \
          -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
          -DGTSAM_WITH_TBB=OFF \
          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
          -DGTSAM_BUILD_TESTS=OFF \
          -DGTSAM_BUILD_UNSTABLE=OFF \
          -DGTSAM_USE_SYSTEM_EIGEN=ON \
          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

        # --- libnabo 1.1.2 (required by libpointmatcher) ---
        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
        cd "$SRC/libnabo"
        git apply "$PATCHES/libnabo-1.1.2.patch"
        cmake -B build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

        # --- libpointmatcher 1.4.4 (finds libnabo from the staged prefix) ---
        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="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF  
        cmake --build build -j$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

    - name: Install Source Dependencies
      # Copy the (possibly cached) staged install tree into /usr/local so
      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
      # pick the dependencies up. Runs on both cache hit and miss.
      run: |
        set -e
        STAGE="${{ runner.temp }}/deps-stage"
        if [ ! -d "$STAGE/usr/local" ]; then
          echo "No staged dependencies found at $STAGE/usr/local" >&2
          exit 1
        fi
        sudo cp -a "$STAGE/usr/local/." /usr/local/

    - name: Configure CMake
      run: |
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}

    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

    - name: Info
      working-directory: ${{github.workspace}}/build/bin
      run: |
        ./rtabmap-console --version

    - name: Build MacOS Package
      run: |
        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package

    - name: Upload RTABMap Artifacts (DMG)
      uses: actions/upload-artifact@v4
      with:
        name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
        path: |
          build/RTABMap-*.dmg
        compression-level: 0
        if-no-files-found: warn
        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

#    - name: Test
#      working-directory: ${{github.workspace}}/build
#      # Execute tests defined by the CMake configuration.  
#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
#      run: ctest -C ${{env.BUILD_TYPE}}