mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
a9c8d60087
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>
44 lines
2.8 KiB
CMake
44 lines
2.8 KiB
CMake
# Per-binary build-time exclusion (ADR-002).
|
|
#
|
|
# Single source of truth for the BUILD_* flag set referenced from
|
|
# `.github/workflows/ci.yml` and the composition-root validator in
|
|
# `src/gps_denied_onboard/runtime_root.py`.
|
|
|
|
# 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)
|
|
|
|
option(BUILD_VPR_ULTRA "Build C2 UltraVPR (primary)" ON)
|
|
option(BUILD_VPR_MEGALOC "Build C2 MegaLoc" OFF)
|
|
option(BUILD_VPR_MIXVPR "Build C2 MixVPR" OFF)
|
|
option(BUILD_VPR_SELAVPR "Build C2 SelaVPR" OFF)
|
|
option(BUILD_VPR_EIGENPLACES "Build C2 EigenPlaces" OFF)
|
|
option(BUILD_VPR_NETVLAD "Build C2 NetVLAD baseline" ON)
|
|
option(BUILD_VPR_SALAD "Build C2 SALAD" OFF)
|
|
|
|
option(BUILD_TENSORRT_RUNTIME "Build C7 TensorRT inference runtime" ON)
|
|
option(BUILD_PYTORCH_RUNTIME "Build C7 PyTorch FP16 inference runtime" OFF)
|
|
|
|
option(BUILD_C10_PROVISIONING "Build C10 (operator-only)" OFF)
|
|
option(BUILD_C11_TILE_MANAGER "Build C11 (operator-only)" OFF)
|
|
option(BUILD_C12_OPERATOR_TOOLING "Build C12 (operator-only)" OFF)
|
|
|
|
option(BUILD_GTSAM_BINDINGS "Build cpp/gtsam_bindings (C4+C5)" ON)
|
|
option(BUILD_FAISS_INDEX "Enable C6 FAISS descriptor index (faiss-cpu PyPI; runtime gate, no native target — AZ-306)" ON)
|
|
|
|
option(BUILD_VIDEO_FILE_FRAME_SOURCE "Build replay video frame source (AZ-265)" OFF)
|
|
option(BUILD_TLOG_REPLAY_ADAPTER "Build replay tlog FC adapter (AZ-265)" OFF)
|
|
option(BUILD_REPLAY_SINK_JSONL "Build replay JSONL sink (AZ-265)" OFF)
|
|
option(BUILD_REPLAY_CLI "Build replay CLI entrypoint (AZ-265)" OFF)
|
|
option(BUILD_LIVE_CAMERA_FRAME_SOURCE "Build live camera frame source" ON)
|
|
|
|
message(STATUS "BUILD_OKVIS2=${BUILD_OKVIS2} BUILD_VINS_MONO=${BUILD_VINS_MONO}")
|
|
message(STATUS "BUILD_TENSORRT_RUNTIME=${BUILD_TENSORRT_RUNTIME} BUILD_GTSAM_BINDINGS=${BUILD_GTSAM_BINDINGS}")
|