Build ORB_SLAM #9
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| name: Build ORB_SLAM | |
| on: | |
| push: | |
| branches: [ $default-branch ] | |
| pull_request: | |
| branches: [ $default-branch ] | |
| workflow_dispatch: | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: true | |
| matrix: | |
| build_type: [Release] | |
| c_compiler: [gcc, clang] | |
| include: | |
| - c_compiler: gcc | |
| cpp_compiler: g++ | |
| - c_compiler: clang | |
| cpp_compiler: clang++ | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Cache apt packages | |
| uses: actions/cache@v3 | |
| with: | |
| path: /var/cache/apt | |
| key: ${{ runner.os }}-apt-${{ hashFiles('apt-dependencies.txt') }} | |
| restore-keys: | | |
| ${{ runner.os }}-apt- | |
| - name: Cache Pangolin | |
| uses: actions/cache@v3 | |
| with: | |
| path: ../Pangolin-0.9.1 | |
| key: ${{ runner.os }}-pangolin-0.9.1 | |
| restore-keys: | | |
| ${{ runner.os }}-pangolin- | |
| - name: Install dependencies | |
| run: | | |
| sudo apt update | |
| sudo apt install -y $(cat apt-dependencies.txt) | |
| if [ ! -d "../Pangolin-0.9.1" ]; then | |
| wget https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v0.9.1.tar.gz -O ../libpangolin.tar.gz | |
| tar xvf ../libpangolin.tar.gz -C ../ | |
| cd ../Pangolin-0.9.1 | |
| ./scripts/install_prerequisites.sh required | |
| cmake -B build -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| cmake --build build --config ${{ matrix.build_type }} | |
| cd - | |
| fi | |
| - name: Set reusable strings | |
| id: strings | |
| shell: bash | |
| run: | | |
| echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT" | |
| - name: Build DBoW2 | |
| run: | | |
| echo "Configuring and building Thirdparty/DBoW2 ..." | |
| cd Thirdparty/DBoW2 | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| make -j$(nproc) | |
| - name: Build g2o | |
| run: | | |
| echo "Configuring and building Thirdparty/g2o ..." | |
| cd Thirdparty/g2o | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| make -j$(nproc) | |
| - name: Build sophus | |
| run: | | |
| echo "Configuring and building Thirdparty/Sophus ..." | |
| cd Thirdparty/Sophus | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| make -j$(nproc) | |
| - name: Build ORB_SLAM | |
| run: | | |
| echo "Configuring and building ORB_SLAM3 ..." | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} | |
| make -j$(nproc) |