mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-09 03:27:45 +08:00
56 lines
2.4 KiB
YAML
56 lines
2.4 KiB
YAML
name: 'Install Windows Dependencies with CUDA'
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description: 'Installs PCL, Qt, VTK, g2o and others'
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runs:
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using: "composite"
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steps:
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- name: Set up MSVC Developer Command Prompt
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x64
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- name: Install CUDA
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uses: Jimver/[email protected]
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id: cuda-toolkit
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with:
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cuda: '13.0.0'
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use-github-cache: True
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- name: Verify CUDA
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shell: bash
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run: |
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nvcc --version
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echo "CUDA Path: $CUDA_PATH"
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- name: Cache vcpkg
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id: cache-vcpkg
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uses: actions/cache@v4
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with:
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path: ${{ runner.workspace }}/vcpkg_installed
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key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1
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- name: Download and Install vcpkg
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if: steps.cache-vcpkg.outputs.cache-hit != 'true'
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shell: pwsh
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run: |
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$install_dir = "${{ runner.workspace }}\vcpkg_installed"
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$archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
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# The file has been built locally with bundle-windows-deps.bat
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$url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
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Invoke-WebRequest -Uri $url -OutFile $archivePath
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& 7z x $archivePath "-o$install_dir" -y
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- name: Add vcpkg to PATH and env variable
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shell: pwsh
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run: |
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$vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
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echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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# K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
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echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
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