mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-07 02:27:47 +08:00
matlabbe
51cfc37923
* OptimizerG2O: adding support for priors in SBA * Fixed computeError * don't fix root id roll/pitch if gravity constraints are fed (SBA) * changed number_t to double * forward compatibility * cleanup * log * Updated CI status * split cmake workflow in linux and windows * bump release badge version * uniformize name * fixing android build
108 lines
3.5 KiB
YAML
108 lines
3.5 KiB
YAML
name: CMake-Windows
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- '**'
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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.build_name }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: true
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matrix:
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build_name: [windows-2022, windows-2022-cuda]
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include:
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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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- 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: Configure CMake
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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: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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- name: Build Windows Package
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shell: pwsh
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run: |
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if ("${{ 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: ${{github.workspace}}/build/bin
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run: |
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./rtabmap-console --version
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- name: Upload RTABMap Artifacts (ZIP)
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uses: actions/upload-artifact@v4
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with:
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name: RTABMap-Binaries-${{ matrix.build_name }}-zip
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path: |
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build/RTABMap-*.zip
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compression-level: 0
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if-no-files-found: warn
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retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
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- name: Upload RTABMap Artifacts (Installer)
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if: github.event_name != 'pull_request'
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uses: actions/upload-artifact@v4
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with:
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name: RTABMap-Binaries-${{ matrix.build_name }}-exe
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path: |
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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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# # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
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# run: ctest -C ${{env.BUILD_TYPE}}
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