rtabmap/.github/workflows/cmake-windows.yml

name: CMake-Windows

on:
  push:
    branches: 
      - master
  pull_request:
    branches:
      - '**'
  workflow_dispatch:

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 <prefix>" 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}} -V --timeout 300 -LE performance

    - 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 }}