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[AZ-514] Default BUILD_OKVIS2=OFF; unblock macOS cmake configure

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Carryover from batch 35/36/37 report sections. The on-by-default value
in cmake/build_options.cmake never matched any actual pipeline: every
kind in .github/workflows/ci.yml (deployment + research) explicitly
passes -DBUILD_OKVIS2=OFF, and the wrapper at cpp/okvis2/CMakeLists.txt
documents that bundled OKVIS2 deps (DBoW2/brisk/ceres/opengv) are NOT
pulled into the clone — Linux CI installs them via apt instead. macOS
dev hosts have neither the nested submodules nor the apt-installed
Eigen/Ceres/Brisk and would fail at OpenGV's find_package(Eigen) step.

Flipping the default to OFF aligns with the documented intent in
cpp/okvis2/CMakeLists.txt (\"macOS dev builds default BUILD_OKVIS2=OFF;
unit tests use a fake pybind11 binding fixture\") and is no-op on every
CI matrix that already explicitly opted out. Tier-1/Tier-2 builds that
want the native compile must continue to opt in via -DBUILD_OKVIS2=ON
plus the apt-deps install step (which AZ-332's tier2 follow-up wires
end-to-end).

Verified: tests/unit/test_ac1_scaffold_layout.py::test_cmake_files_configure
now passes on a macOS dev host without any system C++ deps.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-13 05:08:14 +03:00
parent f7b2e70085
commit a9c8d60087
1 changed files with 8 additions and 1 deletions
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cmake/build_options.cmake
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@@ -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)