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Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)
* Adding OpenGV as submodule (optional) * Remove submodule to migrate to FetchContent * using FetchContent * remove empty .gitmodules * Fixing OpenGV not able to find eigen on windows * patching opengv to adjust -march=native based on PCL * fixing patching on windows * eigen fix * PR cancel on-going CI builds if new commit is added to PR * try another approach * updating patch with some logs * more debug mesage * fixing EIGEN_INCLUDE_DIR * enable rolling_builds on appveyor * removed rolling_builds appveyor * fixing eigen cache * test * more debug logs * another try * cleanup * updated appveyor to work with fetchcontent * removed mkdir build (appveyor) * appveyor: trying ninja to increase CI speed * removed mkdr * appveyor: spitting opengv and rtabmap builds to be under 60 min per job * appveyor: caching dependencies * using global configuration * using baked image * fixing wget in ps * fixing not support for * pip error * reverted pip install * fixed realsense cache * fixing multi step build * removing baked image * typo * Windows: Converted appveyor to github actions * updated boost version * fixing boost * udpated boost config * boost... * platform_version * install boost directly * silent boost install * very silent boost * fixing ls * added boost install dir * showing boost install dir * moved windows dependencies in external action file * explicitly save boost cache to same time on iterations * pip install gdown * update * caching more deps * caching all depts * removed explicit boost cache save * mscv 14.0 * forcing building visual studio 14 2015 * installing v12 in 2022 instead * setup cmd prompt * init right toolset * fixing system version for opengv compilation error * fixing package and artifact * CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION * removing cmd * find manually psapi.lib * resolve * refactor psapi env * forcing 10.0.19041.0 * using windows=2022 runner instead * added vcpkg * commenting windows-latest for now * trying vcpkg instead * search path * updated path * moved json * removed deleted file for git * adding a real version * using version-string * cleanup vcpkg * building artifacts with vcpkg * removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build * udpated vcpkg version for issue microsoft/vcpkg#49103 * try with minimal dep first * disable opengv for now * try vcpkg single compilation * space * updated link * fixed qupote * fixing cache name * adding debug folder * adjust path * adjust path * providing vcpkg binaries instead * ident * added triplet * added BOOST_ROOT * boost root * boost root * fixed path * adding eigen headers * try path * cmake prefix path * boost timer def * libnabo fixes * pointmatcher prefix * disabling pointmathcer tests * updated cmake parameters * changed how file is downloaded * trying curl instead * puttoing backe InvokeWeb because it is a dropbox issue * skipping optional deps for now * ficing env variable * triplet * installing triplets * not overriding default vcpkg env variables * missing path * manifet install off * that was working locally * missing protobuf path * fixing tiff not found * fixing vtk not found * more vtk fixes * another thy * changing download url * updated url * try * shoudl work now * protobuf exe * readding tiff * explicit vcpkg installed folder * missing commands * try without tiff * ficing vtk comple path * -DPSAPI_LIBRARIES=Psapi.lib * quoting * fixing psapi required * Set up MSVC Developer Command Prompt * disabling pckaging for now * openni.ini * renabling packing * Added stripped deps * fix name * updated binaries * format * updated opengv eigen path * added tbb dep * updatd archive name with vs version * updated archive in action * fixing patch error * corrupted * updated gtsam version / vcpkg * removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead. * updated opengv patch * gtsam mkl dep * updated vcpkg binaries * updated patches * removed mkl dep * missing eigen in gtsam dep * disabling gtsam till we find a compatible version locally * all working locally! * removed ninja * working python calls * fixed hard symlink for python3.dll * fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing * fixed flaoting dockwidget on start, removed cmd line window when launching bundled app * use sub-packages cudnn * Added cuda dev workflow * fixed archive name * Updated deps with pytorch cuda * updating ci PATH * fixing ci build without torch * rename cuda artifacts * cache cuda, add job to test internal opengv build * Updated output artifacts zip name * windows package: only zip on pull request * Change USE_INTERNAL_OPENGV to BUILD_OPENGV * use use-github-cache * updated artifacts path
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‎.appveyor.yml‎

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‎.github/actions/install-windows-cuda-deps/action.yml‎

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name: 'Install Windows Dependencies with CUDA'
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description: 'Installs PCL, Qt, VTK, g2o and others'
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runs:
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using: "composite"
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steps:
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- name: Set up MSVC Developer Command Prompt
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x64
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- name: Install CUDA
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uses: Jimver/cuda-toolkit@v0.2.30
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id: cuda-toolkit
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with:
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cuda: '13.0.0'
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use-github-cache: True
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- name: Verify CUDA
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shell: bash
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run: |
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nvcc --version
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echo "CUDA Path: $CUDA_PATH"
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- name: Cache vcpkg
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id: cache-vcpkg
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uses: actions/cache@v4
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with:
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path: ${{ runner.workspace }}/vcpkg_installed
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key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1
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- name: Download and Install vcpkg
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if: steps.cache-vcpkg.outputs.cache-hit != 'true'
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shell: pwsh
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run: |
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$install_dir = "${{ runner.workspace }}\vcpkg_installed"
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$archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
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# The file has been built locally with bundle-windows-deps.bat
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$url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
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Invoke-WebRequest -Uri $url -OutFile $archivePath
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& 7z x $archivePath "-o$install_dir" -y
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- name: Add vcpkg to PATH and env variable
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shell: pwsh
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run: |
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$vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
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echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

‎.github/actions/install-windows-deps/action.yml‎

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name: 'Install Windows Dependencies'
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description: 'Installs PCL, Qt, VTK, g2o and others'
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runs:
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using: "composite"
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steps:
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- name: Set up MSVC Developer Command Prompt
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x64
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- name: Cache vcpkg
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id: cache-vcpkg
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uses: actions/cache@v4
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with:
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path: ${{ runner.workspace }}/vcpkg_installed
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key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v4
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- name: Download and Install vcpkg
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if: steps.cache-vcpkg.outputs.cache-hit != 'true'
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shell: pwsh
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run: |
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$install_dir = "${{ runner.workspace }}\vcpkg_installed"
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$archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
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# The file has been built locally with bundle-windows-deps.bat
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$url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z"
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Invoke-WebRequest -Uri $url -OutFile $archivePath
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& 7z x $archivePath "-o$install_dir" -y
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- name: Add vcpkg to PATH and env variable
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shell: pwsh
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run: |
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$vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
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echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

‎.github/workflows/cleanup-pr-artifacts.yml‎

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name: Cleanup PR Artifacts
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on:
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pull_request:
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types: [closed]
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jobs:
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delete-artifacts:
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runs-on: ubuntu-latest
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permissions:
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actions: write
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steps:
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- name: Delete PR Artifacts
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uses: geekyeggo/delete-artifact@v5
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with:
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name: build-output-*

‎.github/workflows/cmake-ros.yml‎

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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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BUILD_TYPE: Release
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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build:
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# The CMake configure and build commands are platform agnostic and should work equally

‎.github/workflows/cmake.yml‎

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env:
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BUILD_TYPE: Release
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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build:
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name: ${{ matrix.os }}
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name: ${{ matrix.build_name }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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fail-fast: true
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matrix:
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os: [ubuntu-24.04, ubuntu-22.04]
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build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, windows-2022, windows-2022-cuda]
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include:
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- os: ubuntu-22.04
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- build_name: ubuntu-22.04
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os: ubuntu-22.04
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extra_deps: "libunwind-dev libceres-dev"
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extra_cmake_def: ""
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- os: ubuntu-24.04
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extra_cmake_def: "-DWITH_CERES=ON"
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- build_name: ubuntu-24.04
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os: ubuntu-24.04
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extra_deps: "libg2o-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON"
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- build_name: ubuntu-24.04-with-opengv
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os: ubuntu-24.04
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extra_deps: "libg2o-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON -DBUILD_OPENGV=ON"
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- build_name: windows-2022
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os: windows-2022
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
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- build_name: windows-2022-cuda
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os: windows-2022
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extra_deps: ""
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extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'
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steps:
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- name: Install dependencies
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steps:
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- uses: actions/checkout@v4
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- name: Install Windows Dependencies
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if: matrix.build_name == 'windows-2022'
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uses: ./.github/actions/install-windows-deps
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- name: Install Windows Dependencies with CUDA
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if: matrix.build_name == 'windows-2022-cuda'
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uses: ./.github/actions/install-windows-cuda-deps
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- name: Install Linux Dependencies
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if: matrix.os != 'windows-2022'
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run: |
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DEBIAN_FRONTEND=noninteractive
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sudo apt-get update
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sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
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- uses: actions/checkout@v4
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- name: Configure CMake
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if: matrix.os == 'windows-2022'
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run: |
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cmake `
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-B ${{github.workspace}}/build `
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-DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
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${{ matrix.extra_cmake_def }} `
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-DVCPKG_MANIFEST_INSTALL=OFF `
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-DVCPKG_TARGET_TRIPLET=x64-windows-release `
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-DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
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-DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
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-DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
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- name: Configure CMake
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if: matrix.os != 'windows-2022'
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run: |
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cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
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- name: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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- name: Build Windows Package
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if: matrix.os == 'windows-2022'
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shell: pwsh
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run: |
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if ("${{ github.event_name }}" -eq "pull_request") {
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cpack --config build/CPackConfig.cmake -G ZIP -B build
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} else {
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cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
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}
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- name: Rename CUDA artifacts
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if: matrix.build_name == 'windows-2022-cuda'
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shell: pwsh
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run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
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- name: Info
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working-directory: ${{github.workspace}}/build/bin
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run: |
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./rtabmap-console --version
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- name: Upload RTABMap Artifacts
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if: matrix.os == 'windows-2022'
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uses: actions/upload-artifact@v4
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with:
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name: RTABMap-Binaries-${{ matrix.build_name }}
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path: |
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build/RTABMap-*.zip
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build/RTABMap-*.exe
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compression-level: 0
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if-no-files-found: warn
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retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
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# - name: Test
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# working-directory: ${{github.workspace}}/build
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# # Execute tests defined by the CMake configuration.

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