mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-12 14:30:19 +08:00
Torjus Ivelandandmatlabbe
2fbbe19d70
* VWDictionary: use multi-core FLANN kNN search * Add parameter with default 1 thread * Kp/FlannTreads plumbing to UI. Also added to performance tests for comparison. * fixing ci error * dump debug data for windows ci * Adding more dll debugging report windows ci * install vc2012 runtime explicitly * updated comment --------- Co-authored-by: matlabbe <matlabbe@gmail.com>
313 lines
14 KiB
YAML
313 lines
14 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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workflow_dispatch:
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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: '-DWITH_TORCH=OFF -DWITH_ZED=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: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
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steps:
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- uses: actions/checkout@v4
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- name: Restore test data
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id: cache-testdata
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if: matrix.build_name != 'windows-2022-cuda'
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uses: actions/cache@v4
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with:
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# SQLite DBs are binary-portable -> share the cache across
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# linux / macos / windows. Key omits runner.os on purpose so all
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# three OSes hit the same entry.
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path: data/tests/*.db
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key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
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- name: Fetch test data
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if: matrix.build_name != 'windows-2022-cuda' && steps.cache-testdata.outputs.cache-hit != 'true'
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shell: bash
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run: bash scripts/fetch_test_data.sh
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- name: Install VC++ 2012 runtime
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# The Kinect for Windows SDK 2.0 (WITH_K4W2=ON) is a VS2012 build, so
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# Kinect20.dll needs MSVCR110.dll and MSVCP110.dll, and it reaches
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# rtabmap_core as a load-time import. bundle_windows_deps.bat stages only
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# Kinect20.dll itself into the vcpkg export, not the runtime it was built
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# against, and the windows-2022 image lists no VC++ 2012 runtime (only
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# 2013 and 2022). When nothing else on the machine happens to supply them,
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# every executable linking rtabmap_core dies in the loader with 0xc0000135
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# (STATUS_DLL_NOT_FOUND) before reaching main(), while the utilite tests,
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# which link nothing but psapi, keep passing.
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#
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# The durable fix is to stage the two DLLs beside Kinect20.dll in the
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# bundle, which would cover the shipped package too; that needs the bundle
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# rebuilt and the cache key bumped, so install them here for now.
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#
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# Not pinned to one matrix leg: both build the package, and a package with
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# Kinect support carries the same requirement.
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shell: pwsh
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run: |
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$need = @('msvcr110.dll', 'msvcp110.dll')
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function Get-Missing {
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$need | Where-Object { -not (Test-Path (Join-Path "$env:SystemRoot\System32" $_)) }
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}
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if (-not (Get-Missing)) {
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Write-Host "VC++ 2012 runtime already present in System32, nothing to do"
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exit 0
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}
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Write-Host "Missing before install: $((Get-Missing) -join ', ')"
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choco install -y vcredist2012 --no-progress
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Write-Host "choco exit code: $LASTEXITCODE"
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$still = Get-Missing
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if ($still) {
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# Warn rather than fail: the dependency dump in the next step reports
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# the whole picture, which is more useful than stopping here.
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Write-Host "::warning::Still missing from System32 after vcredist2012: $($still -join ', ')"
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} else {
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Write-Host "VC++ 2012 runtime installed: $($need -join ', ')"
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}
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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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# K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
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# and the install rules), pointing at the export where the bundle staged their SDK files.
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$env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
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$env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
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$env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
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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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-DBUILD_AS_BUNDLE=ON `
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-DWITH_PYTHON=ON `
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-DWITH_CERES=ON `
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-DWITH_ORBBEC_SDK=ON `
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-DWITH_FREENECT2=ON `
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-DWITH_K4W2=ON `
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-DWITH_K4A=ON `
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-DWITH_DEPTHAI=ON `
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-DWITH_REALSENSE2=ON `
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-DWITH_CCCORELIB=ON `
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${{ matrix.extra_cmake_def }} `
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-DBUILD_TESTING=ON `
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-DVCPKG_MANIFEST_INSTALL=OFF `
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-DVCPKG_TARGET_TRIPLET=x64-windows-release `
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-DVCPKG_INSTALLED_DIR="${{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}} --target ALL_BUILD
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- name: Diagnose loader dependencies
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# ctest reports a loader failure as nothing but "Exit code 0xc0000135"
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# (STATUS_DLL_NOT_FOUND): the process dies before main(), so gtest prints
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# no output and the log never names the DLL that was not found. This walks
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# the import tree of the executables ctest is about to run and reports the
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# ones that do not resolve against the search path those processes see.
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#
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# Runs before Test, and keeps going on failure, so the report is in the log
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# whether or not ctest then fails. Diagnostic only: it asserts nothing.
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if: matrix.build_name != 'windows-2022-cuda'
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continue-on-error: true
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shell: pwsh
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working-directory: ${{github.workspace}}/build/bin
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run: |
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$vswhere = "${env:ProgramFiles(x86)}\Microsoft Visual Studio\Installer\vswhere.exe"
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if (-not (Test-Path $vswhere)) { Write-Host "vswhere not found, skipping"; exit 0 }
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$vsPath = & $vswhere -latest -property installationPath
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# Sorted descending so this is the newest toolset, the one that built
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# the binaries, rather than whichever side-by-side version sorts first.
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$dumpbin = Get-ChildItem "$vsPath\VC\Tools\MSVC" -Filter 'dumpbin.exe' -Recurse -ErrorAction SilentlyContinue |
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Where-Object { $_.FullName -like '*\Hostx64\x64\*' } |
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Sort-Object FullName -Descending | Select-Object -First 1
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if (-not $dumpbin) { Write-Host "dumpbin not found under $vsPath, skipping"; exit 0 }
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Write-Host "dumpbin : $($dumpbin.FullName)"
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Write-Host "bin dir : $((Get-Location).Path) ($((Get-ChildItem -Filter '*.dll').Count) DLLs)"
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# The loader looks in the executable's own directory first, then
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# System32, then PATH. api-ms-win-* / ext-ms-* are virtual API sets
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# resolved by the loader with no file on disk, so they never count as
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# missing.
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$searchDirs = @((Get-Location).Path, "$env:SystemRoot\System32") +
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($env:PATH -split ';' | Where-Object { $_ -and (Test-Path $_) })
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# Load-time and delay-load imports have to be told apart: only a
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# missing load-time import kills the process with 0xc0000135. A missing
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# delay-load one is resolved on first call, or never, so it is normal
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# for the Windows security stack (HvsiFileTrust, wpaxholder) to show up
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# there on a runner. dumpbin prints them in two sections.
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function Get-Imports($file) {
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$load = @(); $delay = @(); $mode = $null
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foreach ($line in (& $dumpbin.FullName /dependents $file 2>$null)) {
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if ($line -match 'following delay load dependencies') { $mode = 'delay'; continue }
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elseif ($line -match 'following dependencies') { $mode = 'load'; continue }
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elseif ($line -match '^\s*Summary') { $mode = $null; continue }
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if ($mode -and $line -match '^\s+(\S+\.dll)\s*$') {
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if ($mode -eq 'load') { $load += $Matches[1] } else { $delay += $Matches[1] }
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}
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}
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[pscustomobject]@{ Load = $load; Delay = $delay }
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}
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function Test-Resolvable($dll) {
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$key = $dll.ToLower()
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if ($key -like 'api-ms-*' -or $key -like 'ext-ms-*') { return $true }
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[bool]($searchDirs | ForEach-Object { Join-Path $_ $dll } |
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Where-Object { Test-Path $_ } | Select-Object -First 1)
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}
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function Resolve-Dll($dll) {
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$searchDirs | ForEach-Object { Join-Path $_ $dll } |
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Where-Object { Test-Path $_ } | Select-Object -First 1
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}
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# Recurses through load-time imports only, which is the graph the
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# loader must satisfy before main() runs. Delay-load imports of each
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# visited binary are checked but not followed.
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function Walk($file, $seen, $missing, $missingDelay) {
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$imports = Get-Imports $file
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foreach ($dll in $imports.Delay) {
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if (-not (Test-Resolvable $dll)) { [void]$missingDelay.Add($dll) }
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}
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foreach ($dll in $imports.Load) {
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if (-not $seen.Add($dll.ToLower())) { continue }
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if ($dll.ToLower() -like 'api-ms-*' -or $dll.ToLower() -like 'ext-ms-*') { continue }
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$hit = Resolve-Dll $dll
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if ($hit) { Walk $hit $seen $missing $missingDelay }
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else { [void]$missing.Add("$dll <- imported by $(Split-Path $file -Leaf)") }
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}
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}
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# test_ulogger passes today and rtabmap_core is what every failing test
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# has in common, so the three together separate "this executable is
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# broken" from "the dependency bundle is incomplete".
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foreach ($exe in @('test_ulogger.exe', 'test_corelib.exe', 'rtabmap-console.exe')) {
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if (-not (Test-Path $exe)) { Write-Host "--- $exe : not built"; continue }
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$seen = [System.Collections.Generic.HashSet[string]]::new()
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$missing = [System.Collections.Generic.HashSet[string]]::new()
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$missingDelay = [System.Collections.Generic.HashSet[string]]::new()
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Walk (Resolve-Path $exe).Path $seen $missing $missingDelay
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if ($missing.Count) {
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Write-Host "--- $exe : $($missing.Count) of $($seen.Count) LOAD-TIME imports MISSING (these fail the loader)"
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$missing | Sort-Object | ForEach-Object { Write-Host " $_" }
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} else {
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Write-Host "--- $exe : all $($seen.Count) load-time imports resolve"
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}
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if ($missingDelay.Count) {
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Write-Host " (delay-load, resolved on first call, not a loader failure: $(($missingDelay | Sort-Object) -join ', '))"
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}
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}
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- name: Test
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# Not run on the CUDA build, which is a build+package job only.
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#
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# The runner has no NVIDIA GPU or driver (see the driver-DLL note in
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# app/src/CMakeLists.txt), so no cv::cuda / CUDASIFT path can actually
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# execute there -- everything falls back to CPU and the run just repeats
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# the coverage the non-CUDA job already gives, on the same sources. It
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# used to cost more than it returned: the two cv::cuda-touching tests
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# (test_util3d_features, test_localgrid) had to be excluded because lazy
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# CUDA-init stalled them past the 300 s timeout, and once WITH_ZED=ON was
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# added to this job every remaining corelib test died in the loader with
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# 0xc0000135 (STATUS_DLL_NOT_FOUND) before reaching main(): rtabmap_core
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# links sl_zed64.dll, which imports the driver-only nvcuvid.dll /
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# nvEncodeAPI64.dll that a driver-less runner does not have.
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#
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# So this job compiles, links and packages the CUDA artifact; the
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# non-CUDA job is what verifies behaviour. Same reason the Info step
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# below is skipped here.
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if: matrix.build_name != 'windows-2022-cuda'
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working-directory: ${{github.workspace}}/build
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# PYTHONHOME points the embedded interpreter at vcpkg's bundled
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# Python install (where Lib/, DLLs/ live). Without it Python emits
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# "Could not find platform independent libraries <prefix>" at init
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# and runs without a stdlib, breaking every numpy import.
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# PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
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# loading numpy / other site-packages from %APPDATA%\Python that
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# were compiled against a different ABI than the build-time Python
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# (numpy 1.x/2.x mismatch crashes in test_pydetector /
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# test_pydescriptor / test_pymatcher).
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env:
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PYTHONHOME: ${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3
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PYTHONNOUSERSITE: 1
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run: |
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ctest -C ${{env.BUILD_TYPE}} -V --timeout 300 -LE performance
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- name: Info
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# Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
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# which need the NVIDIA driver; the GPU-less runner can't load the exe.
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if: matrix.build_name != 'windows-2022-cuda'
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working-directory: ${{github.workspace}}/build/bin
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run: |
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./rtabmap-console --version
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- name: Build Windows Package
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shell: pwsh
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run: |
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if ("${{ 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" + $_.Extension }
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- name: Upload RTABMap Artifacts (ZIP)
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uses: actions/upload-artifact@v4
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with:
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name: RTABMap-Binaries-${{ 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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