merged master->branch

.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-linux.yml

@@ -1,4 +1,4 @@
-name: CMake
+name: CMake-Linux
 
 on:
   push:
@@ -11,34 +11,44 @@ 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 }}
     concurrency:
       group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.os }}
       cancel-in-progress: true
     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]
         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"
 
-    steps:    
-    - name: Install dependencies
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Linux Dependencies
       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
       run: |
         cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}

.github/workflows/cmake-ros.yml

@@ -12,13 +12,17 @@ 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
     # well on Windows or Mac.  You can convert this to a matrix build if you need
     # cross-platform coverage.
     # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    name: ${{ matrix.ros_distribution }}-${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     concurrency:
       group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}-${{ matrix.os }}

.github/workflows/cmake-windows.yml

@@ -0,0 +1,112 @@
+name: CMake-Windows
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+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.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [windows-2022, windows-2022-cuda]
+        include:
+        - 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:
+    - 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: Configure CMake
+      run: |
+        cmake `
+          -B ${{github.workspace}}/build `
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+          ${{ matrix.extra_cmake_def }} `
+          -DBUILD_TESTING=ON `
+          -DVCPKG_MANIFEST_INSTALL=OFF `
+          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
+          -DVCPKG_INSTALLED_DIR="${{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: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target ALL_BUILD
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      run: ctest -C ${{env.BUILD_TYPE}} --output-on-failure --timeout 300
+
+    - name: Build Windows Package
+      shell: pwsh
+      run: |
+        if ("${{ 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: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+    - name: Upload RTABMap Artifacts (ZIP)
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+        path: |
+          build/RTABMap-*.zip
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+    - name: Upload RTABMap Artifacts (Installer)
+      if: github.event_name != 'pull_request'
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-exe
+        path: |
+          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.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+