Update librealsense to v2.54.2 #9458
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Windows | |
| permissions: {} | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| developer_build: | |
| description: "Set to OFF for Release wheels" | |
| required: false | |
| default: "ON" | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| types: [opened, reopened, synchronize] # Rebuild on new pushes to PR | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| PIP_VER: "23.2.1" | |
| WHEEL_VER: "0.38.4" | |
| STOOLS_VER: "67.3.2" | |
| JEDI_VER: "0.17.2" # https://github.com/ipython/ipython/issues/12740 | |
| IDNA_VER: "2.8" # https://github.com/psf/requests/issues/5710 | |
| CUDA_VERSION: 11.7.1 | |
| SRC_DIR: "D:\\a\\open3d\\open3d" | |
| BUILD_DIR: "C:\\Open3D\\build" | |
| NPROC: 2 | |
| DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }} | |
| jobs: | |
| windows: | |
| permissions: | |
| contents: write # upload | |
| runs-on: windows-2022 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| BUILD_SHARED_LIBS: [ON, OFF] | |
| STATIC_RUNTIME: [ON, OFF] | |
| BUILD_CUDA_MODULE: [ON, OFF] | |
| CONFIG: [Release, Debug] | |
| exclude: | |
| - BUILD_SHARED_LIBS: ON | |
| STATIC_RUNTIME: ON | |
| include: | |
| - BUILD_CUDA_MODULE: ON | |
| env: | |
| BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }} | |
| steps: | |
| - name: Disk space used | |
| run: Get-PSDrive | |
| - name: Setup Windows SDK | |
| uses: GuillaumeFalourd/setup-windows10-sdk-action@v2 | |
| with: | |
| sdk-version: 19041 | |
| - name: Install CUDA | |
| if: ${{ matrix.BUILD_CUDA_MODULE == 'ON' }} | |
| run: | | |
| # Define variables | |
| $CUDA_VER_FULL = "${{ env.CUDA_VERSION }}" | |
| $CUDA_VER_ARR = $CUDA_VER_FULL.Split(".") | |
| $CUDA_VER = "$($CUDA_VER_ARR[0]).$($CUDA_VER_ARR[1])" | |
| $CUDA_VER_ID = "$($CUDA_VER_ARR[0])_$($CUDA_VER_ARR[1])" | |
| # Installer url | |
| $CUDA_URL = "https://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_windows_network.exe" | |
| # Installer arguments | |
| $CUDA_INSTALL_ARGS = "-s" | |
| # Required packages | |
| $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "npp", "npp_dev" | |
| $CUDA_PACKAGES.ForEach({ $CUDA_INSTALL_ARGS += " $($_)_$($CUDA_VER)" }) | |
| # Download and install CUDA | |
| echo "Downloading CUDA installer from $CUDA_URL" | |
| Invoke-WebRequest $CUDA_URL -OutFile cuda.exe | |
| echo "Installing CUDA..." | |
| Start-Process -Wait -FilePath .\cuda.exe -ArgumentList "$CUDA_INSTALL_ARGS" | |
| if ( !$? ) { | |
| exit 1 | |
| } | |
| # Add CUDA environment variables. | |
| $CUDA_PATH = "C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v$CUDA_VER" | |
| echo "CUDA_PATH=$CUDA_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| echo "CUDA_PATH_V$CUDA_VER_ID=$CUDA_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| echo "$CUDA_PATH\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python version | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: 3.8 | |
| - name: Config | |
| # Move build directory to C: https://github.com/actions/virtual-environments/issues/1341 | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| New-Item -Path ${{ env.BUILD_DIR }} -ItemType Directory | |
| cd ${{ env.BUILD_DIR }} | |
| if (${env:DEVELOPER_BUILD} -ne "OFF") { | |
| ${env:DEVELOPER_BUILD}="ON" | |
| } | |
| cmake -G "Visual Studio 17 2022" -A x64 ` | |
| -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" ` | |
| -DCMAKE_SYSTEM_VERSION="10.0.19041.0" ` | |
| -DBUILD_EXAMPLES=OFF ` | |
| -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" ` | |
| -DBUILD_SHARED_LIBS=${{ matrix.BUILD_SHARED_LIBS }} ` | |
| -DSTATIC_WINDOWS_RUNTIME=${{ matrix.STATIC_RUNTIME }} ` | |
| -DBUILD_COMMON_ISPC_ISAS=ON ` | |
| -DBUILD_LIBREALSENSE=ON ` | |
| -DBUILD_WEBRTC=${{ env.BUILD_WEBRTC }} ` | |
| -DBUILD_UNIT_TESTS=ON ` | |
| -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA_MODULE }} ` | |
| ${{ env.SRC_DIR }} | |
| - name: Build | |
| working-directory: ${{ env.BUILD_DIR }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} ` | |
| --target build-examples-iteratively | |
| cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} ` | |
| --target INSTALL | |
| - name: Package | |
| working-directory: ${{ env.BUILD_DIR }} | |
| if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} ` | |
| --target package | |
| if ("${{ matrix.CONFIG }}" -eq "Debug") { | |
| Get-ChildItem package/open3d-devel-*.zip | Rename-Item -NewName ` | |
| {$_.name -Replace '.zip','-dbg.zip'} | |
| } | |
| $DEVEL_PKG_NAME=(Get-ChildItem package/open3d-devel-*.zip).Name | |
| echo "DEVEL_PKG_NAME=$DEVEL_PKG_NAME" | Out-File -FilePath ` | |
| $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Upload Package | |
| if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.DEVEL_PKG_NAME }} | |
| path: ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }} | |
| if-no-files-found: error | |
| - name: Update devel release with package | |
| if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }} | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release upload main-devel ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }} --clobber | |
| gh release view main-devel | |
| - name: Viewer App | |
| working-directory: ${{ env.BUILD_DIR }} | |
| if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} ` | |
| --target Open3DViewer | |
| cmake --build . --parallel ${{ env.NPROC }} --config ${{ matrix.CONFIG }} ` | |
| --target INSTALL | |
| - name: Upload Viewer | |
| if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: open3d-app-windows-amd64 | |
| path: C:\Program Files\Open3D\bin\Open3D | |
| if-no-files-found: error | |
| - name: Update devel release with viewer | |
| if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }} | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| $Env:OPEN3D_VERSION_FULL = (Select-String -Path "C:/Open3D/build/CMakeCache.txt" -Pattern "OPEN3D_VERSION_FULL").Line.Split('=')[1] | |
| Compress-Archive -Path "C:/Program Files/Open3D/bin/Open3D" -DestinationPath ` | |
| "open3d-$Env:OPEN3D_VERSION_FULL-app-windows-amd64.zip" | |
| gh release upload main-devel "open3d-$Env:OPEN3D_VERSION_FULL-app-windows-amd64.zip" --clobber | |
| gh release view main-devel | |
| - name: Run C++ unit tests | |
| if: ${{ matrix.BUILD_CUDA_MODULE == 'OFF' }} | |
| working-directory: ${{ env.BUILD_DIR }} | |
| run: | | |
| echo "Add --gtest_random_seed=SEED to the test command to repeat this test sequence." | |
| .\bin\${{ matrix.CONFIG }}\tests.exe --gtest_shuffle --gtest_filter=-*ReduceSum64bit2DCase0*:*ReduceSum64bit2DCase3* | |
| - name: Linking to Open3D | |
| working-directory: ${{ env.SRC_DIR }}/examples/cmake/open3d-cmake-find-package | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| mkdir build | |
| cd build | |
| cmake -G "Visual Studio 17 2022" -A x64 ` | |
| -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" ` | |
| -DSTATIC_WINDOWS_RUNTIME=${{ matrix.STATIC_RUNTIME }} ` | |
| .. | |
| cmake --build . --config ${{ matrix.CONFIG }} | |
| .\${{ matrix.CONFIG }}\Draw.exe --skip-for-unit-test | |
| Remove-Item "C:\Program Files\Open3D" -Recurse | |
| - name: Install Python package | |
| working-directory: ${{ env.BUILD_DIR }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| python -m pip install --upgrade pip==${{ env.PIP_VER }} ` | |
| wheel==${{ env.WHEEL_VER }} ` | |
| setuptools==${{ env.STOOLS_VER }} ` | |
| jedi==${{ env.JEDI_VER }} ` | |
| idna==${{ env.IDNA_VER }} | |
| cmake --build . --config ${{ matrix.CONFIG }} --target install-pip-package | |
| - name: Import python package | |
| # If BUILD_SHARED_LIBS == ON, Open3D.dll needs to be copied, which is not recommended for python. | |
| if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.BUILD_CUDA_MODULE == 'OFF' }} | |
| run: | | |
| python -c "import open3d; print('Imported:', open3d)" | |
| python -c "import open3d; print('CUDA enabled: ', open3d.core.cuda.is_available())" | |
| - name: Disk space used | |
| run: Get-PSDrive | |
| build-wheel: | |
| name: Build wheel | |
| permissions: | |
| contents: write # upload | |
| runs-on: windows-2022 | |
| strategy: | |
| fail-fast: false | |
| # https://gh.neting.ccmunity/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6 | |
| matrix: | |
| python_version: ['3.8', '3.9', '3.10', '3.11'] | |
| is_main: | |
| - ${{ github.ref == 'refs/heads/main' }} | |
| exclude: | |
| - is_main: false | |
| python_version: '3.8' | |
| - is_main: false | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.10' | |
| steps: | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Setup Windows SDK | |
| uses: GuillaumeFalourd/setup-windows10-sdk-action@v2 | |
| with: | |
| sdk-version: 19041 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Install Python dependencies | |
| working-directory: ${{ env.SRC_DIR }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| python -m pip install -r python/requirements.txt | |
| python -m pip install -r python/requirements_jupyter_build.txt | |
| - name: Config | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| New-Item -Path ${{ env.BUILD_DIR }} -ItemType Directory | |
| cd ${{ env.BUILD_DIR }} | |
| if (${env:DEVELOPER_BUILD} -ne "OFF") { | |
| ${env:DEVELOPER_BUILD}="ON" | |
| } | |
| cmake -G "Visual Studio 17 2022" -A x64 ` | |
| -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" ` | |
| -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" ` | |
| -DCMAKE_SYSTEM_VERSION="10.0.19041.0" ` | |
| -DBUILD_SHARED_LIBS=OFF ` | |
| -DSTATIC_WINDOWS_RUNTIME=ON ` | |
| -DBUILD_COMMON_ISPC_ISAS=ON ` | |
| -DBUILD_AZURE_KINECT=ON ` | |
| -DBUILD_LIBREALSENSE=ON ` | |
| -DBUILD_WEBRTC=ON ` | |
| -DBUILD_JUPYTER_EXTENSION=ON ` | |
| ${{ env.SRC_DIR }} | |
| - name: Build Python package | |
| working-directory: ${{ env.BUILD_DIR }} | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| python -m pip install --upgrade pip==${{ env.PIP_VER }} ` | |
| wheel==${{ env.WHEEL_VER }} ` | |
| setuptools==${{ env.STOOLS_VER }} | |
| cmake --build . --parallel ${{ env.NPROC }} --config Release --target pip-package | |
| $PIP_PKG_NAME=(Get-ChildItem lib/python_package/pip_package/open3d*.whl).Name | |
| echo "PIP_PKG_NAME=$PIP_PKG_NAME" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Upload wheel | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.PIP_PKG_NAME }} | |
| path: ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} | |
| if-no-files-found: error | |
| - name: Update devel release with wheel | |
| if: ${{ github.ref == 'refs/heads/main' }} | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release upload main-devel ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }} --clobber | |
| gh release view main-devel | |
| test-wheel: | |
| name: Test wheel | |
| permissions: | |
| contents: read | |
| runs-on: windows-2019 # build on 2022, test on 2019 | |
| needs: [build-wheel] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| python_version: ['3.8', '3.9', '3.10', '3.11'] | |
| is_main: | |
| - ${{ github.ref == 'refs/heads/main' }} | |
| exclude: | |
| - is_main: false | |
| python_version: '3.8' | |
| - is_main: false | |
| python_version: '3.9' | |
| - is_main: false | |
| python_version: '3.10' | |
| steps: | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Download wheels | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: open3d-*win*.whl | |
| merge-multiple: true | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Test Python package | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| python -V | |
| python -m venv open3d_test_venv | |
| open3d_test_venv\Scripts\Activate.ps1 | |
| python -m pip install --upgrade pip==${{ env.PIP_VER }} ` | |
| wheel==${{ env.WHEEL_VER }} ` | |
| setuptools==${{ env.STOOLS_VER }} | |
| python -m pip install -U -r python/requirements_test.txt | |
| $py_tag=(python -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')") | |
| if (Test-Path -Path "pip_package") { | |
| $PIP_PKG_NAME=(Get-ChildItem pip_package\open3d*-$py_tag-*.whl).Name | |
| } else { | |
| $PIP_PKG_NAME=(Get-ChildItem open3d*-$py_tag-*.whl).Name | |
| } | |
| echo "Installing Open3D wheel $PIP_PKG_NAME in virtual environment..." | |
| python -m pip install "$PIP_PKG_NAME" | |
| python -c "import open3d; print('Imported:', open3d)" | |
| python -c "import open3d; print('CUDA enabled: ', open3d.core.cuda.is_available())" | |
| deactivate | |
| - name: Run Python unit tests | |
| run: | | |
| $ErrorActionPreference = 'Stop' | |
| open3d_test_venv\Scripts\Activate.ps1 | |
| echo "Running Open3D python tests..." | |
| echo "Add --randomly-seed=SEED to the test command to reproduce test order." | |
| echo "Testing ML and ML Ops disabled" | |
| python -m pytest python/test/ --ignore python/test/ml_ops/ | |
| deactivate |