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: ${{ matrix.os }} strategy: fail-fast: true matrix: build_name: [windows-2022, windows-2022-cuda] include: - build_name: windows-2022 os: windows-2022 extra_deps: "" extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF' - build_name: windows-2022-cuda os: windows-2022 extra_deps: "" extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON' steps: - uses: actions/checkout@v4 - name: Restore test data id: cache-testdata if: matrix.build_name != 'windows-2022-cuda' uses: actions/cache@v4 with: # SQLite DBs are binary-portable -> share the cache across # linux / macos / windows. Key omits runner.os on purpose so all # three OSes hit the same entry. path: data/tests/*.db key: testdata-${{ hashFiles('data/tests/manifest.txt') }} - name: Fetch test data if: matrix.build_name != 'windows-2022-cuda' && steps.cache-testdata.outputs.cache-hit != 'true' shell: bash run: bash scripts/fetch_test_data.sh - 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: | # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake # and the install rules), pointing at the export where the bundle staged their SDK files. $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release" cmake ` -B ${{github.workspace}}/build ` -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ` -DBUILD_AS_BUNDLE=ON ` -DWITH_PYTHON=ON ` -DWITH_CERES=ON ` -DWITH_ORBBEC_SDK=ON ` -DWITH_FREENECT2=ON ` -DWITH_K4W2=ON ` -DWITH_K4A=ON ` -DWITH_DEPTHAI=ON ` -DWITH_REALSENSE2=ON ` -DWITH_CCCORELIB=ON ` ${{ matrix.extra_cmake_def }} ` -DBUILD_TESTING=ON ` -DVCPKG_MANIFEST_INSTALL=OFF ` -DVCPKG_TARGET_TRIPLET=x64-windows-release ` -DVCPKG_INSTALLED_DIR="${{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 # Not run on the CUDA build, which is a build+package job only. # # The runner has no NVIDIA GPU or driver (see the driver-DLL note in # app/src/CMakeLists.txt), so no cv::cuda / CUDASIFT path can actually # execute there -- everything falls back to CPU and the run just repeats # the coverage the non-CUDA job already gives, on the same sources. It # used to cost more than it returned: the two cv::cuda-touching tests # (test_util3d_features, test_localgrid) had to be excluded because lazy # CUDA-init stalled them past the 300 s timeout, and once WITH_ZED=ON was # added to this job every remaining corelib test died in the loader with # 0xc0000135 (STATUS_DLL_NOT_FOUND) before reaching main(): rtabmap_core # links sl_zed64.dll, which imports the driver-only nvcuvid.dll / # nvEncodeAPI64.dll that a driver-less runner does not have. # # So this job compiles, links and packages the CUDA artifact; the # non-CUDA job is what verifies behaviour. Same reason the Info step # below is skipped here. if: matrix.build_name != 'windows-2022-cuda' working-directory: ${{github.workspace}}/build # PYTHONHOME points the embedded interpreter at vcpkg's bundled # Python install (where Lib/, DLLs/ live). Without it Python emits # "Could not find platform independent libraries " at init # and runs without a stdlib, breaking every numpy import. # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from # loading numpy / other site-packages from %APPDATA%\Python that # were compiled against a different ABI than the build-time Python # (numpy 1.x/2.x mismatch crashes in test_pydetector / # test_pydescriptor / test_pymatcher). env: PYTHONHOME: ${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3 PYTHONNOUSERSITE: 1 run: | ctest -C ${{env.BUILD_TYPE}} --output-on-failure --timeout 300 - name: Info # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64), # which need the NVIDIA driver; the GPU-less runner can't load the exe. if: matrix.build_name != 'windows-2022-cuda' working-directory: ${{github.workspace}}/build/bin run: | ./rtabmap-console --version - name: Build Windows Package shell: pwsh run: | if ("${{ 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" + $_.Extension } - name: Upload RTABMap Artifacts (ZIP) uses: actions/upload-artifact@v4 with: name: RTABMap-Binaries-${{ 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 }}