Add YOLO26 monocular depth estimation #1173
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| # Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license | |
| name: CI | |
| permissions: | |
| contents: read | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| schedule: | |
| - cron: "0 0 * * *" | |
| env: | |
| CARGO_TERM_COLOR: always | |
| # CI builds don't need debuginfo; dropping it cuts crate compile+link | |
| CARGO_PROFILE_DEV_DEBUG: "0" | |
| CARGO_PROFILE_TEST_DEBUG: "0" | |
| # Incremental compilation adds overhead and never hits on cold CI runners. | |
| CARGO_INCREMENTAL: "0" | |
| jobs: | |
| # Cross-platform tests (default features only - no video/ffmpeg required) | |
| test: | |
| name: test / ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest, windows-latest] | |
| steps: | |
| - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| # macos-latest's default Xcode 16.4 toolchain dangles libclang_rt.osx.a | |
| # (ld: library 'clang_rt.osx' not found). Select a present, known-good | |
| # Xcode and export its version so the Rust cache key is scoped to it - | |
| # otherwise a cache built under one image's Xcode dangles on another. | |
| - name: Select Xcode (macOS) | |
| if: matrix.os == 'macos-latest' | |
| run: | | |
| sudo xcode-select -s "$(ls -d /Applications/Xcode_*.app | grep -vE 'beta|16\.4' | sort -V | tail -1)" | |
| xcodebuild -version | |
| echo "XCODE_VER=$(xcodebuild -version | head -1 | awk '{print $2}')" >> "$GITHUB_ENV" | |
| - name: Set up Rust | |
| uses: dtolnay/rust-toolchain@stable | |
| # Formatting is platform-independent; check it once instead of on every OS. | |
| - name: Format | |
| if: matrix.os == 'ubuntu-latest' | |
| run: cargo fmt --all -- --check | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| with: | |
| key: xcode-${{ env.XCODE_VER }} | |
| - name: Ensure toolchain | |
| run: rustup show | |
| - name: Clippy (annotate feature) | |
| if: matrix.os != 'macos-latest' | |
| run: cargo clippy --all-targets --no-default-features --features annotate -- -D warnings | |
| - name: Tests (annotate feature) | |
| if: matrix.os != 'macos-latest' | |
| run: cargo test --no-default-features --features annotate | |
| # CoreML is macOS-only — covers issue #148 (GatherElements warmup) and graph_input_cast_0 fix | |
| - name: Clippy (coreml + annotate) | |
| if: matrix.os == 'macos-latest' | |
| run: cargo clippy --all-targets --no-default-features --features "coreml,annotate" -- -D warnings | |
| - name: Tests (coreml + annotate) | |
| if: matrix.os == 'macos-latest' | |
| run: cargo test --no-default-features --features "coreml,annotate" | |
| - name: Integration tests (CoreML regression, including ignored) | |
| if: matrix.os == 'macos-latest' | |
| run: cargo test --no-default-features --features "coreml,annotate" --test integration_test test_coreml_model_loads_and_warms_up -- --ignored --exact | |
| # Video feature tests for Linux - FFmpeg 7 and 8 | |
| test-video: | |
| name: test / linux / ffmpeg ${{ matrix.ffmpeg_version }} | |
| runs-on: ubuntu-latest | |
| container: jrottenberg/ffmpeg:${{ matrix.ffmpeg_version }}-ubuntu | |
| strategy: | |
| matrix: | |
| ffmpeg_version: ["8.0", "7.1"] | |
| fail-fast: false | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| - name: Install dependencies | |
| run: | | |
| DEBIAN_FRONTEND=noninteractive apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential ca-certificates clang curl pkg-config libssl-dev | |
| - name: Setup Rust | |
| uses: dtolnay/rust-toolchain@stable | |
| with: | |
| components: rustfmt, clippy | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| with: | |
| # Key on ffmpeg version so each container gets its own cache | |
| key: ffmpeg-${{ matrix.ffmpeg_version }} | |
| - name: Ensure toolchain | |
| run: rustup show | |
| - name: Clippy (annotate + video) | |
| run: cargo clippy --all --features annotate,video -- -D warnings | |
| - name: Tests (annotate + video) | |
| run: cargo test --all --features annotate,video | |
| # macOS FFmpeg 8 video build test | |
| build-macos-video: | |
| name: build / macos / ffmpeg 8 / video | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| # macos-latest's default Xcode 16.4 toolchain dangles libclang_rt.osx.a | |
| # (ld: library 'clang_rt.osx' not found). Select a present, known-good | |
| # Xcode and export its version so the Rust cache key is scoped to it - | |
| # otherwise a cache built under one image's Xcode dangles on another. | |
| - name: Select Xcode (macOS) | |
| run: | | |
| sudo xcode-select -s "$(ls -d /Applications/Xcode_*.app | grep -vE 'beta|16\.4' | sort -V | tail -1)" | |
| xcodebuild -version | |
| echo "XCODE_VER=$(xcodebuild -version | head -1 | awk '{print $2}')" >> "$GITHUB_ENV" | |
| - name: Install dependencies | |
| run: brew install ffmpeg | |
| - name: Capture FFmpeg version for cache key | |
| run: echo "FFMPEG_VERSION=$(brew list --versions ffmpeg | awk '{print $2}')" >> "$GITHUB_ENV" | |
| - name: Setup Rust | |
| uses: dtolnay/rust-toolchain@stable | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| with: | |
| key: ffmpeg-${{ env.FFMPEG_VERSION }}-xcode-${{ env.XCODE_VER }} | |
| - name: Ensure toolchain | |
| run: rustup show | |
| - name: Build (annotate + video features) | |
| run: cargo build --release --features "annotate,video,visualize" --bin ultralytics-inference | |
| # Windows FFmpeg 8 video build test | |
| build-windows-video: | |
| name: build / windows / ffmpeg 8 / video | |
| runs-on: windows-latest | |
| env: | |
| FFMPEG_VERSION: "8.1.1" | |
| FFMPEG_DOWNLOAD_URL: https://github.com/GyanD/codexffmpeg/releases/download/8.1.1/ffmpeg-8.1.1-full_build-shared.7z | |
| steps: | |
| - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| - name: Cache FFmpeg | |
| id: cache-ffmpeg | |
| uses: actions/cache@55cc8345863c7cc4c66a329aec7e433d2d1c52a9 # v6.1.0 | |
| with: | |
| path: ffmpeg | |
| key: windows-ffmpeg-${{ env.FFMPEG_VERSION }} | |
| - name: Download FFmpeg | |
| if: steps.cache-ffmpeg.outputs.cache-hit != 'true' | |
| run: | | |
| Invoke-WebRequest "${env:FFMPEG_DOWNLOAD_URL}" -OutFile ffmpeg-shared.7z | |
| 7z x ffmpeg-shared.7z | |
| mkdir ffmpeg | |
| mv ffmpeg-*/* ffmpeg/ | |
| - name: Set FFmpeg environment variables | |
| run: | | |
| $VCINSTALLDIR = $(& "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe" -latest -property installationPath) | |
| Add-Content $env:GITHUB_ENV "LIBCLANG_PATH=${VCINSTALLDIR}\VC\Tools\LLVM\x64\bin" | |
| Add-Content $env:GITHUB_ENV "FFMPEG_DIR=${pwd}\ffmpeg" | |
| Add-Content $env:GITHUB_PATH "${pwd}\ffmpeg\bin" | |
| - name: Setup Rust | |
| uses: dtolnay/rust-toolchain@stable | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| - name: Ensure toolchain | |
| run: rustup show | |
| - name: Build (annotate + video features) | |
| run: cargo build --features annotate,video | |
| # Browser/WebAssembly build: guards that the core library stays wasm-compatible | |
| # and that the WebGPU (ort-web) bindings + npm wrapper build end to end. | |
| wasm: | |
| name: wasm / browser | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| - name: Set up Rust | |
| uses: dtolnay/rust-toolchain@stable | |
| with: | |
| targets: wasm32-unknown-unknown | |
| components: clippy | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| with: | |
| key: wasm | |
| - name: Ensure toolchain | |
| run: rustup show | |
| # The core crate must keep compiling for wasm without the native backend. | |
| - name: Build core lib for wasm32 | |
| run: cargo build -p ultralytics-inference --lib --no-default-features --target wasm32-unknown-unknown | |
| - name: Clippy WebGPU bindings (wasm32) | |
| run: cargo clippy -p ultralytics-inference-web --target wasm32-unknown-unknown -- -D warnings | |
| - name: Install wasm-pack | |
| uses: taiki-e/install-action@c7eb1735f09259a5035e8e5d44b1406b1cddc0fb # v2.83.0 | |
| with: | |
| tool: wasm-pack | |
| - name: Set up Node | |
| uses: actions/setup-node@48b55a011bda9f5d6aeb4c2d9c7362e8dae4041e # v6.4.0 | |
| with: | |
| node-version: 20 | |
| # Builds the wasm (wasm-pack) and the TypeScript wrapper. | |
| - name: Build npm package | |
| working-directory: web | |
| run: | | |
| npm ci | |
| npm run build | |
| # Code coverage (runs on Ubuntu with FFmpeg dev libs for full feature coverage) | |
| coverage: | |
| name: coverage | |
| runs-on: ubuntu-latest | |
| needs: [test] | |
| permissions: | |
| contents: read | |
| id-token: write | |
| steps: | |
| - uses: actions/checkout@9c091bb21b7c1c1d1991bb908d89e4e9dddfe3e0 # v7.0.0 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get install -y pkg-config libavutil-dev libavcodec-dev libavformat-dev libavfilter-dev libavdevice-dev libswscale-dev libswresample-dev libpostproc-dev clang | |
| - name: Set up Rust | |
| uses: dtolnay/rust-toolchain@nightly | |
| # Nightly toolchain version in rustc -V already gives this job a unique cache key | |
| - name: Cache Rust dependencies | |
| uses: Swatinem/rust-cache@c19371144df3bb44fab255c43d04cbc2ab54d1c4 # v2.9.1 | |
| - name: Ensure toolchain | |
| run: rustup show | |
| - name: Install cargo-llvm-cov | |
| uses: taiki-e/install-action@c7eb1735f09259a5035e8e5d44b1406b1cddc0fb # v2.83.0 | |
| with: | |
| tool: cargo-llvm-cov | |
| - name: Coverage | |
| # Exclude code that host-side unit tests cannot exercise: the CUDA kernel | |
| # (needs an NVIDIA GPU), the minifb viewer window (GUI), the thin CLI | |
| # entry point, and the wasm32-only web crate. | |
| run: cargo llvm-cov --features annotate,video,visualize --workspace --lcov --output-path lcov.info --ignore-filename-regex '(src/cuda_inference\.rs|src/visualizer/viewer\.rs|src/main\.rs|crates/web/)' | |
| - name: Upload coverage to Codecov | |
| continue-on-error: true | |
| uses: codecov/codecov-action@fb8b3582c8e4def4969c97caa2f19720cb33a72f # v7.0.0 | |
| with: | |
| files: ./lcov.info | |
| disable_search: true | |
| fail_ci_if_error: false | |
| plugins: noop | |
| flags: template_coverage | |
| use_oidc: true |