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 https://github.com/microsoft/vcpkg/pull/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

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

@@ -0,0 +1,15 @@
+name: Cleanup PR Artifacts
+on:
+  pull_request:
+    types: [closed]
+
+jobs:
+  delete-artifacts:
+    runs-on: ubuntu-latest
+    permissions:
+      actions: write
+    steps:
+      - name: Delete PR Artifacts
+        uses: geekyeggo/delete-artifact@v5
+        with:
+          name: build-output-*

.github/workflows/cmake-ros.yml

@@ -12,6 +12,10 @@ env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 jobs:
   build:
     # The CMake configure and build commands are platform agnostic and should work equally

.github/workflows/cmake.yml

@@ -11,43 +11,111 @@ on:
 env:
   BUILD_TYPE: Release
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 jobs:
   build:
-    name: ${{ matrix.os }}
+    name: ${{ matrix.build_name }}
     runs-on: ${{ matrix.os }}
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04]
+        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, windows-2022, windows-2022-cuda]
         include:
-        - os: ubuntu-22.04
+        - build_name: ubuntu-22.04
+          os: ubuntu-22.04
           extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: ""
-        - os: ubuntu-24.04
+          extra_cmake_def: "-DWITH_CERES=ON"
+        - build_name: ubuntu-24.04
+          os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
           extra_cmake_def: "-DWITH_CERES=ON"
+        - build_name: ubuntu-24.04-with-opengv
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DBUILD_OPENGV=ON"
+        - build_name: windows-2022
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
+        - build_name: windows-2022-cuda
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'
 
-    steps:    
-    - name: Install dependencies
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Windows Dependencies
+      if: matrix.build_name == 'windows-2022'
+      uses: ./.github/actions/install-windows-deps
+ 
+    - name: Install Windows Dependencies with CUDA
+      if: matrix.build_name == 'windows-2022-cuda'
+      uses: ./.github/actions/install-windows-cuda-deps
+
+    - name: Install Linux Dependencies
+      if: matrix.os != 'windows-2022'
       run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt-get update
         sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
 
-    - uses: actions/checkout@v4
+    - name: Configure CMake
+      if: matrix.os == 'windows-2022'
+      run: |
+        cmake `
+          -B ${{github.workspace}}/build `
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+          ${{ matrix.extra_cmake_def }} `
+          -DVCPKG_MANIFEST_INSTALL=OFF `
+          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
+          -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
+          -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
+          -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
 
     - name: Configure CMake
+      if: matrix.os != 'windows-2022'
       run: |
         cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
+    - name: Build Windows Package
+      if: matrix.os == 'windows-2022'
+      shell: pwsh
+      run: |
+        if ("${{ github.event_name }}" -eq "pull_request") {
+          cpack --config build/CPackConfig.cmake -G ZIP -B build
+        } else {
+          cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+        }
+
+    - name: Rename CUDA artifacts
+      if: matrix.build_name == 'windows-2022-cuda'
+      shell: pwsh
+      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
+
     - name: Info
       working-directory: ${{github.workspace}}/build/bin
       run: |
         ./rtabmap-console --version
 
+    - name: Upload RTABMap Artifacts
+      if: matrix.os == 'windows-2022'
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}
+        path: |
+          build/RTABMap-*.zip
+          build/RTABMap-*.exe
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
 #    - name: Test
 #      working-directory: ${{github.workspace}}/build
 #      # Execute tests defined by the CMake configuration.