mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
d069becc72
* Windows CI: make vcpkg download compatible with draft release * forcing nvdia driver dll to be ignored in fixup_bundle * disabling opencv cudec and python * disabling rtabmap-console --version on cuda build * Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data. * Updated zed sdk5 resolution and quality * Updated zed sdk5 resolution and quality * Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog * cleanup and debug logs * Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents * renamed * found a way to expose ZED model downloads * Updated default config path on Windows * Fixed extra endline in file logging (windows) * Fixed camera local transform when used with lidar and odomSensor * CI(macos): build g2o from source with OpenMP (libomp include/link fix) * Mac: added ceres dep, fixed omp not found by cmake * Mac: bundle orbbec extensions * stripping rpath of orbbec's extensions * cleanup * Realsense2 error as error (not warning) * Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading * LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)
97 lines
3.2 KiB
YAML
97 lines
3.2 KiB
YAML
name: CMake-MacOS
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- '**'
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env:
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BUILD_TYPE: Release
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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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build:
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name: ${{ matrix.build_name }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: true
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matrix:
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build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
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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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- build_name: macos-sequoia-apple-silicon
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os: macos-15
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- build_name: macos-tahoe-intel
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os: macos-26-intel
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- build_name: macos-tahoe-apple-silicon
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os: macos-26
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steps:
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- uses: actions/checkout@v4
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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 pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
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- name: Install Source Dependencies
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# Build (and per-dependency cache) the source-only deps not available from
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# Homebrew, then install them into /usr/local. See the composite action.
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uses: ./.github/actions/install-macos-source-deps
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with:
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os: ${{ matrix.os }}
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build_type: ${{ env.BUILD_TYPE }}
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- name: Configure CMake
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run: |
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# Apple clang has no built-in OpenMP; point find_package(OpenMP) at
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# Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
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# repeatedly logging "Could NOT find OpenMP".
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LIBOMP=$(brew --prefix libomp)
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cmake -B ${{github.workspace}}/build \
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-DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
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-DBUILD_AS_BUNDLE=ON \
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-DWITH_ORBBEC_SDK=ON \
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-DWITH_DEPTHAI=ON \
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-DWITH_CERES=ON \
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-DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
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-DOpenMP_C_LIB_NAMES=omp \
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-DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
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-DOpenMP_CXX_LIB_NAMES=omp \
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-DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
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- name: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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- name: Info
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working-directory: ${{github.workspace}}/build/bin
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run: |
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./rtabmap-console --version
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- name: Build MacOS Package
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run: |
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cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
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- name: Upload RTABMap Artifacts (DMG)
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uses: actions/upload-artifact@v4
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with:
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name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
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path: |
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build/RTABMap-*.dmg
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compression-level: 0
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if-no-files-found: warn
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retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
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# - name: Test
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# working-directory: ${{github.workspace}}/build
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# # Execute tests defined by the CMake configuration.
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# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
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# run: ctest -C ${{env.BUILD_TYPE}}
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