rtabmap/.github/actions/install-macos-source-deps/action.yml

name: 'Install macOS Source Dependencies'
description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.'
inputs:
  os:
    description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.'
    required: true
  build_type:
    description: 'CMake build type.'
    required: false
    default: 'Release'
runs:
  using: "composite"
  steps:
    - name: Resolve dependency versions
      id: depver
      shell: bash
      # The source deps link against these Homebrew libraries and are compiled
      # with Xcode's toolchain, so both are folded into the cache keys: a
      # Homebrew bump (e.g. a new Eigen) or an Xcode update 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"

    # ----------------------------- GTSAM -----------------------------
    - name: Cache GTSAM
      id: cache-gtsam
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/gtsam
        key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}

    - name: Build GTSAM
      if: steps.cache-gtsam.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.action_path }}/patches"
        SRC="${{ runner.temp }}/src-deps/gtsam"
        STAGE="${{ runner.temp }}/deps-stage/gtsam"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
        cd "$SRC/gtsam"
        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
        cmake -B build \
          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
          -DGTSAM_WITH_TBB=OFF \
          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
          -DGTSAM_BUILD_TESTS=OFF \
          -DGTSAM_BUILD_UNSTABLE=OFF \
          -DGTSAM_USE_SYSTEM_EIGEN=ON \
          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

    # ----------------- libnabo + libpointmatcher --------------------
    # Built together: libpointmatcher depends on libnabo, so keeping them in one
    # unit keeps the build order internal (lpm finds libnabo in the unit's stage).
    - name: Cache pointmatcher
      id: cache-pointmatcher
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/pointmatcher
        key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }}

    - name: Build pointmatcher
      if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.action_path }}/patches"
        SRC="${{ runner.temp }}/src-deps/pointmatcher"
        STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        # libnabo (required by libpointmatcher)
        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
        cd "$SRC/libnabo"
        git apply "$PATCHES/libnabo-1.1.2.patch"
        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }}
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build
        # libpointmatcher (finds libnabo from the unit's staged prefix)
        git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
        cd "$SRC/libpointmatcher"
        git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

    # ----------------------------- OrbbecSDK ------------------------
    - name: Cache OrbbecSDK
      id: cache-orbbec
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/orbbec
        key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}

    - name: Build OrbbecSDK
      if: steps.cache-orbbec.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.action_path }}/patches"
        SRC="${{ runner.temp }}/src-deps/orbbec"
        STAGE="${{ runner.temp }}/deps-stage/orbbec"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
        cd "$SRC/OrbbecSDK_v2"
        git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
        # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
        # so it stages under usr/local like the other deps and is installed/found.
        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

    # ----------------------------- depthai --------------------------
    - name: Cache depthai
      id: cache-depthai
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/depthai
        key: depthai-2.32.0-usrlocal-nocv-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}

    - name: Build depthai
      if: steps.cache-depthai.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.action_path }}/patches"
        SRC="${{ runner.temp }}/src-deps/depthai"
        STAGE="${{ runner.temp }}/deps-stage/depthai"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
        git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
        cd "$SRC/depthai-core"
        git submodule update --init --recursive
        # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
        # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
        git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
        # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
        # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
        # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
        # (Hunter reuses the same cmake binary for its dependency sub-builds).
        python3 -m venv "$SRC/cmake3-venv"
        "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
        CMAKE3="$SRC/cmake3-venv/bin/cmake"
        # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
        # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
        # depthai-core defaults its install prefix to <build>/install; force
        # /usr/local so it stages under usr/local like the other deps.
        "$CMAKE3" -B build \
          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
          -DCMAKE_INSTALL_PREFIX=/usr/local \
          -DBUILD_SHARED_LIBS=ON \
          -DDEPTHAI_ENABLE_CURL=OFF \
          -DDEPTHAI_BUILD_TESTS=OFF \
          -DDEPTHAI_BUILD_EXAMPLES=OFF \
          -DDEPTHAI_OPENCV_SUPPORT=OFF \
          -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
        "$CMAKE3" --build build -j$NPROC
        DESTDIR="$STAGE" "$CMAKE3" --install build

    # ----------------------------- opengv ---------------------------
    - name: Cache opengv
      id: cache-opengv
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/opengv
        key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }}

    - name: Build opengv
      if: steps.cache-opengv.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        PATCHES="${{ github.action_path }}/patches"
        SRC="${{ runner.temp }}/src-deps/opengv"
        STAGE="${{ runner.temp }}/deps-stage/opengv"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        # opengv pins a commit (not a tag), so clone then checkout.
        git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv"
        cd "$SRC/opengv"
        git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
        # Disable the -march=native/armv7-a/armv8-a flags so it builds portably on
        # both Intel and Apple Silicon runners.
        git apply "$PATCHES/opengv-91f4b19c-macos.patch"
        # CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient
        # cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points
        # opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64).
        cmake -B build \
          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
          -DCMAKE_INSTALL_PREFIX=/usr/local \
          -DBUILD_TESTS=OFF \
          -DBUILD_SHARED_LIBS=ON \
          -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
          -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

    # ----------------------------- g2o ------------------------------
    - name: Cache g2o
      id: cache-g2o
      uses: actions/cache@v4
      with:
        path: ${{ runner.temp }}/deps-stage/g2o
        key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }}

    - name: Build g2o
      if: steps.cache-g2o.outputs.cache-hit != 'true'
      shell: bash
      run: |
        set -e
        NPROC=$(sysctl -n hw.logicalcpu)
        SRC="${{ runner.temp }}/src-deps/g2o"
        STAGE="${{ runner.temp }}/deps-stage/g2o"
        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
        # g2o pins a commit (not a tag), so clone then checkout.
        git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o"
        cd "$SRC/g2o"
        git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
        # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
        # other deps. Homebrew's libomp is keg-only and g2o does not propagate
        # OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
        # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
        LIBOMP=$(brew --prefix libomp)
        cmake -B build \
          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
          -DCMAKE_INSTALL_PREFIX=/usr/local \
          -DCMAKE_PREFIX_PATH="$LIBOMP" \
          -DCMAKE_C_FLAGS="-I$LIBOMP/include" \
          -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \
          -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
          -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
          -DG2O_BUILD_APPS=OFF \
          -DG2O_BUILD_EXAMPLES=OFF \
          -DG2O_USE_OPENMP=ON \
          -DG2O_USE_OPENGL=OFF
        cmake --build build -j$NPROC
        DESTDIR="$STAGE" cmake --install build

    # ------------------- install all units into /usr/local ----------
    - name: Install source dependencies into /usr/local
      shell: bash
      # Copy each (cached or freshly built) staged tree into /usr/local so
      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
      # pick them up. Runs on both cache hit and miss.
      run: |
        set -e
        STAGE="${{ runner.temp }}/deps-stage"
        found=0
        for unit in gtsam pointmatcher orbbec depthai opengv g2o; do
          if [ -d "$STAGE/$unit/usr/local" ]; then
            sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
            found=1
          fi
        done
        if [ "$found" != "1" ]; then
          echo "No staged source dependencies found under $STAGE" >&2
          exit 1
        fi