Build ORB_SLAM #10
This file contains 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: 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] | |
| include: | |
| - c_compiler: gcc | |
| cpp_compiler: g++ | |
| 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) |