Complete redesign of AprilTag integration and support for ArUco families #3264
Workflow file for this run
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: MacOS | |
| # https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events | |
| on: | |
| pull_request: | |
| types: [opened, reopened, synchronize] | |
| schedule: | |
| - cron: '0 2 * * SUN' | |
| # https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109 | |
| # https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref || github.run_id }} | |
| cancel-in-progress: true | |
| jobs: | |
| # https://github.com/orgs/community/discussions/28474#discussioncomment-3350256 | |
| check_skip_flags: | |
| name: Check skip flags | |
| runs-on: macos-latest | |
| outputs: | |
| head-commit-message: ${{ steps.get_head_commit_message.outputs.headCommitMsg }} | |
| steps: | |
| - name: Get repo | |
| uses: actions/checkout@v5 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| - name: Print head git commit message | |
| id: get_head_commit_message | |
| run: echo "headCommitMsg=$(git show -s --format=%s)" >> $GITHUB_OUTPUT | |
| build-macos: | |
| runs-on: ${{ matrix.os }} | |
| needs: check_skip_flags | |
| if: >- | |
| ${{ | |
| (!contains(needs.check_skip_flags.outputs.head-commit-message, '[SKIP-CI ALL]') && | |
| !contains(needs.check_skip_flags.outputs.head-commit-message, '[SKIP-CI MACOS]')) || | |
| contains(needs.check_skip_flags.outputs.head-commit-message, '[ENABLE-CI MACOS]') | |
| }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [macos-14, macos-latest] | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Print system information | |
| run: | | |
| sysctl -a | grep machdep.cpu | |
| sysctl -a | grep logical | |
| - name: Print OS information | |
| run: system_profiler SPSoftwareDataType | |
| - name: Install dependencies on macos-latest | |
| if: matrix.os == 'macos-latest' | |
| run: | | |
| brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json | |
| - name: Install dependencies on macos-14 | |
| # XXX Testing this on macos-14 | |
| # ---------------- | |
| # On macos-13 we need to do a specific action | |
| # ==> Pouring [email protected]_1.ventura.bottle.tar.gz | |
| # Error: The `brew link` step did not complete successfully | |
| # The formula built, but is not symlinked into /usr/local | |
| # Could not symlink bin/2to3-3.12 | |
| # Target /usr/local/bin/2to3-3.12 | |
| # already exists. You may want to remove it: | |
| # rm '/usr/local/bin/2to3-3.12' | |
| # | |
| # To force the link and overwrite all conflicting files: | |
| # brew link --overwrite [email protected] | |
| # | |
| # Fix proposed in https://github.com/actions/runner-images/issues/6817 | |
| # ---------------- | |
| # TODO Might be merged with macos-latest deps installation if succeed | |
| if: matrix.os == 'macos-14' | |
| run: | | |
| brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json | |
| # brew update | |
| # brew upgrade || true | |
| # brew install libpng libjpeg-turbo libdc1394 pcl librealsense zbar pkg-config nlohmann-json | |
| # brew install opencv eigen | |
| - name: Debug Eigen after upgrade 1 | |
| run: | | |
| ls /opt/homebrew/Cellar/eigen/ | |
| - name: Debug Eigen after upgrade 2 | |
| run: | | |
| ls -als /opt/homebrew/share/ | |
| - name: Debug Eigen after upgrade 3 | |
| run: | | |
| ls -als /opt/homebrew/share/eigen3/ | |
| - name: Debug Eigen after upgrade 4 | |
| run: | | |
| ls -als /opt/homebrew/share/eigen3/cmake | |
| - name: Debug Eigen after upgrade 5 | |
| run: | | |
| cat /opt/homebrew/share/eigen3/cmake/Eigen3Config.cmake | |
| # sudo launchctl load -w /System/Library/LaunchDaemons/com.apple.locate.plist | |
| # locate "Eigen/Core" | |
| # locate "Eigen3Config.cmake" | |
| # ls /opt/homebrew/share/eigen3/cmake/ | |
| # cat /opt/homebrew/share/eigen3/cmake/Eigen3Config.cmake | |
| - name: Install java dependencies | |
| run: | | |
| brew install openjdk ant | |
| sudo ln -sfn /usr/local/opt/openjdk/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk.jdk | |
| echo "JAVA_HOME=$(/usr/libexec/java_home)" >> $GITHUB_ENV | |
| echo ${JAVA_HOME} | |
| - name: Clone visp-images | |
| env: | |
| BRANCH_NAME: ${{ github.head_ref || github.ref_name }} | |
| # https://remarkablemark.org/blog/2022/09/25/check-git-branch-exists-in-remote-repository/ | |
| run: | | |
| git clone --depth 1 https://github.com/lagadic/visp-images ${HOME}/visp-images | |
| echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV | |
| echo ${VISP_INPUT_IMAGE_PATH} | |
| - name: Clone visp_sample | |
| run: | | |
| git clone --depth 1 https://github.com/lagadic/visp_sample ${HOME}/visp_sample | |
| # Openblas location is exported explicitly because openblas is keg-only, | |
| # which means it was not symlinked into /usr/local/. | |
| - name: Configure CMake | |
| run: | | |
| export LDFLAGS="-L/usr/local/opt/openblas/lib" | |
| export CPPFLAGS="-I/usr/local/opt/openblas/include" | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/tmp/usr/local -DCMAKE_VERBOSE_MAKEFILE=ON | |
| cat ViSP-third-party.txt | |
| - name: Compile | |
| working-directory: build | |
| run: make -j$(sysctl -n hw.logicalcpu) install | |
| - name: Run unit tests | |
| working-directory: build | |
| run: ctest -j$(sysctl -n hw.logicalcpu) --output-on-failure -V | |
| - name: ViSP as 3rdparty with cmake | |
| run: | | |
| cd ${HOME}/visp_sample | |
| mkdir visp_sample-build | |
| cd visp_sample-build | |
| cmake ../ -DVISP_DIR=/tmp/usr/local/lib/cmake/visp -DCMAKE_VERBOSE_MAKEFILE=ON | |
| make -j$(sysctl -n hw.logicalcpu) | |
| - name: ViSP as 3rdparty with visp.pc and pkg-config | |
| run: | | |
| cd ${HOME}/visp_sample | |
| export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig | |
| pkg-config --cflags visp | |
| pkg-config --libs visp | |
| make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp.pc | |
| make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp.pc clean | |
| - name: ViSP as 3rdparty with visp-config | |
| run: | | |
| cd ${HOME}/visp_sample | |
| export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig | |
| export VISP_INSTALL_PREFIX=/tmp/usr/local | |
| $VISP_INSTALL_PREFIX/bin/visp-config --cflags | |
| $VISP_INSTALL_PREFIX/bin/visp-config --libs | |
| make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp-config | |
| make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp-config clean |