mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
d069becc72
* Windows CI: make vcpkg download compatible with draft release * forcing nvdia driver dll to be ignored in fixup_bundle * disabling opencv cudec and python * disabling rtabmap-console --version on cuda build * Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data. * Updated zed sdk5 resolution and quality * Updated zed sdk5 resolution and quality * Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog * cleanup and debug logs * Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents * renamed * found a way to expose ZED model downloads * Updated default config path on Windows * Fixed extra endline in file logging (windows) * Fixed camera local transform when used with lidar and odomSensor * CI(macos): build g2o from source with OpenMP (libomp include/link fix) * Mac: added ceres dep, fixed omp not found by cmake * Mac: bundle orbbec extensions * stripping rpath of orbbec's extensions * cleanup * Realsense2 error as error (not warning) * Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading * LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)
71 lines
3.8 KiB
YAML
71 lines
3.8 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/cuda-toolkit@v0.2.30
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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: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v4
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- name: Download and Install vcpkg
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if: steps.cache-vcpkg.outputs.cache-hit != 'true'
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shell: pwsh
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run: |
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$install_dir = "${{ runner.workspace }}\vcpkg_installed"
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$archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
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# The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
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# GitHub release. Resolve it by filename via the API (authenticated with the
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# built-in token) so it works even from a *draft* release and regardless of
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# the (changing) asset id. Requires the workflow to run in-repo (github.token
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# can't read introlab drafts from a fork PR).
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$repo = "introlab/rtabmap"
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$releaseTag = "0.23.8"
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$assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
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$apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
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# Select the release by tag_name (populated on drafts too, and unique), then
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# take the asset from THAT release so concurrent releases can't be confused.
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$rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
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Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
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if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
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$asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
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if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
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Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
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$dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
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Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -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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