diff --git a/cmake/build_options.cmake b/cmake/build_options.cmake index f774253..b723a65 100644 --- a/cmake/build_options.cmake +++ b/cmake/build_options.cmake @@ -4,7 +4,14 @@ # `.github/workflows/ci.yml` and the composition-root validator in # `src/gps_denied_onboard/runtime_root.py`. -option(BUILD_OKVIS2 "Build C1 OKVIS2 VIO strategy" ON) +# BUILD_OKVIS2 default OFF: AZ-332's pybind11 binding requires apt-installed +# Eigen + Ceres + Brisk + DBoW2 + opengv on the host (`USE_SYSTEM_*` flags in +# `cpp/okvis2/CMakeLists.txt`). Tier-1 / Tier-2 CI explicitly opts in via +# `-DBUILD_OKVIS2=ON` from `.github/workflows/ci.yml`; macOS dev hosts don't +# carry those system deps and would fail at the OpenGV/Eigen `find_package` +# step otherwise. The C1 fake binding fixture (tests/unit/c1_vio/conftest.py) +# keeps unit tests green without the native build. +option(BUILD_OKVIS2 "Build C1 OKVIS2 VIO strategy" OFF) option(BUILD_VINS_MONO "Build C1 VINS-Mono VIO strategy" OFF) option(BUILD_KLT_RANSAC "Build C1 KLT/RANSAC simple baseline" ON)