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|
name: COLMAP (Ubuntu)
on:
push:
branches:
- main
pull_request:
types: [ assigned, opened, synchronize, reopened ]
release:
types: [ published, edited ]
jobs:
build:
name: ${{ matrix.config.os }} ${{ matrix.config.cmakeBuildType }} ${{ matrix.config.cudaEnabled && 'CUDA' || '' }} ${{ matrix.config.asanEnabled && 'ASan' || '' }}
runs-on: ${{ matrix.config.os }}
strategy:
matrix:
config: [
{
os: ubuntu-22.04,
cmakeBuildType: Release,
asanEnabled: false,
guiEnabled: true,
cudaEnabled: false,
e2eTests: true,
checkCodeFormat: true,
},
{
os: ubuntu-22.04,
cmakeBuildType: Release,
asanEnabled: false,
guiEnabled: false,
cudaEnabled: true,
e2eTests: false,
checkCodeFormat: false,
},
{
os: ubuntu-22.04,
cmakeBuildType: Release,
asanEnabled: true,
guiEnabled: false,
cudaEnabled: false,
e2eTests: false,
checkCodeFormat: false,
},
{
os: ubuntu-22.04,
cmakeBuildType: ClangTidy,
asanEnabled: false,
guiEnabled: false,
cudaEnabled: false,
e2eTests: false,
checkCodeFormat: false,
},
{
os: ubuntu-20.04,
cmakeBuildType: Release,
asanEnabled: false,
guiEnabled: true,
cudaEnabled: false,
e2eTests: false,
checkCodeFormat: false,
},
{
os: ubuntu-20.04,
cmakeBuildType: Release,
asanEnabled: false,
guiEnabled: false,
cudaEnabled: true,
e2eTests: false,
checkCodeFormat: false,
},
]
env:
COMPILER_CACHE_VERSION: 1
COMPILER_CACHE_DIR: ${{ github.workspace }}/compiler-cache
CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
CCACHE_BASEDIR: ${{ github.workspace }}
CTCACHE_DIR: ${{ github.workspace }}/compiler-cache/ctcache
steps:
- uses: actions/checkout@v4
- uses: actions/cache@v4
id: cache-builds
with:
key: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}-${{ github.run_id }}-${{ github.run_number }}
restore-keys: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}
path: ${{ env.COMPILER_CACHE_DIR }}
- name: Install compiler cache
run: |
mkdir -p "$CCACHE_DIR" "$CTCACHE_DIR"
echo "$COMPILER_CACHE_DIR/bin" >> $GITHUB_PATH
if [ -f "$COMPILER_CACHE_DIR/bin/ccache" ]; then
exit 0
fi
set -x
wget https://github.com/ccache/ccache/releases/download/v4.8.2/ccache-4.8.2-linux-x86_64.tar.xz
echo "0b33f39766fe9db67f40418aed6a5b3d7b2f4f7fab025a8213264b77a2d0e1b1 ccache-4.8.2-linux-x86_64.tar.xz" | sha256sum --check
tar xfv ccache-4.8.2-linux-x86_64.tar.xz
mkdir -p "$COMPILER_CACHE_DIR/bin"
mv ./ccache-4.8.2-linux-x86_64/ccache "$COMPILER_CACHE_DIR/bin"
ctcache_commit_id="66c3614175fc650591488519333c411b2eac15a3"
wget https://github.com/matus-chochlik/ctcache/archive/${ctcache_commit_id}.zip
echo "108b087f156a9fe7da0c796de1ef73f5855d2a33a27983769ea39061359a40fc ${ctcache_commit_id}.zip" | sha256sum --check
unzip "${ctcache_commit_id}.zip"
mv ctcache-${ctcache_commit_id}/clang-tidy* "$COMPILER_CACHE_DIR/bin"
- name: Check code format
run: |
if [ "${{ matrix.config.checkCodeFormat }}" != "true" ]; then
exit 0
fi
set +x -euo pipefail
sudo apt-get update && sudo apt-get install -y clang-format-14 black
./scripts/format/clang_format.sh
./scripts/format/black.sh
git diff --name-only
git diff --exit-code || (echo "Code formatting failed" && exit 1)
- name: Setup Ubuntu
run: |
sudo apt-get update && sudo apt-get install -y \
build-essential \
cmake \
ninja-build \
libboost-program-options-dev \
libboost-filesystem-dev \
libboost-graph-dev \
libboost-system-dev \
libeigen3-dev \
libceres-dev \
libflann-dev \
libfreeimage-dev \
libmetis-dev \
libgoogle-glog-dev \
libgtest-dev \
libsqlite3-dev \
libglew-dev \
qtbase5-dev \
libqt5opengl5-dev \
libcgal-dev \
libcgal-qt5-dev \
libgl1-mesa-dri \
libunwind-dev \
xvfb
if [ "${{ matrix.config.cudaEnabled }}" == "true" ]; then
if [ "${{ matrix.config.os }}" == "ubuntu-20.04" ]; then
sudo apt-get install -y \
nvidia-cuda-toolkit \
nvidia-cuda-toolkit-gcc
echo "CC=/usr/bin/cuda-gcc" >> $GITHUB_ENV
echo "CXX=/usr/bin/cuda-g++" >> $GITHUB_ENV
elif [ "${{ matrix.config.os }}" == "ubuntu-22.04" ]; then
sudo apt-get install -y \
nvidia-cuda-toolkit \
nvidia-cuda-toolkit-gcc \
gcc-10 g++-10
echo "CC=/usr/bin/gcc-10" >> $GITHUB_ENV
echo "CXX=/usr/bin/g++-10" >> $GITHUB_ENV
echo "CUDAHOSTCXX=/usr/bin/g++-10" >> $GITHUB_ENV
fi
fi
if [ "${{ matrix.config.asanEnabled }}" == "true" ]; then
sudo apt-get install -y clang-15 libomp-15-dev
echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
fi
if [ "${{ matrix.config.cmakeBuildType }}" == "ClangTidy" ]; then
sudo apt-get install -y clang-15 clang-tidy-15 libomp-15-dev
echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
fi
- name: Configure and build
run: |
set -x
cmake --version
mkdir build
cd build
cmake .. \
-GNinja \
-DCMAKE_BUILD_TYPE=${{ matrix.config.cmakeBuildType }} \
-DCMAKE_INSTALL_PREFIX=./install \
-DCMAKE_CUDA_ARCHITECTURES=50 \
-DTESTS_ENABLED=ON \
-DCUDA_ENABLED=${{ matrix.config.cudaEnabled }} \
-DGUI_ENABLED=${{ matrix.config.guiEnabled }} \
-DASAN_ENABLED=${{ matrix.config.asanEnabled }}
ninja -k 10000
- name: Install and build sample
run: |
if [ "${{ matrix.config.asanEnabled }}" == "true" ] ||
[ "${{ matrix.config.cmakeBuildType }}" == "ClangTidy" ]; then
exit 0
fi
set -x
cd build
ninja install
cd ../doc/sample-project
mkdir build
cd build
export colmap_DIR=${{ github.workspace }}/build/install/share/colmap
cmake .. \
-GNinja \
-DCMAKE_CUDA_ARCHITECTURES=50
ninja
./hello_world --message "world"
- name: Run tests
run: |
if [ "${{ matrix.config.cmakeBuildType }}" == "ClangTidy" ]; then
exit 0
fi
if [ "${{ matrix.config.cudaEnabled }}" == "true" ]; then
ctestExclusions="(feature/colmap_feature_sift_test)|(mvs/colmap_mvs_gpu_mat_test)"
fi
export DISPLAY=":99.0"
export QT_QPA_PLATFORM="offscreen"
Xvfb :99 &
sleep 3
cd build
ctest -E "$ctestExclusions" --output-on-failure
- name: Run E2E tests
run: |
if [ "${{ matrix.config.e2eTests }}" != "true" ]; then
exit 0
fi
export DISPLAY=":99.0"
export QT_QPA_PLATFORM="offscreen"
Xvfb :99 &
sleep 3
sudo apt install 7zip
mkdir eth3d_benchmark
# Error thresholds in degrees and meters,
# as the ETH3D groundtruth has metric scale.
GLOG_v=1 python ./scripts/python/benchmark_eth3d.py \
--workspace_path ./eth3d_benchmark \
--colmap_path ./build/src/colmap/exe/colmap \
--dataset_names boulders,door \
--max_rotation_error 1.0 \
--max_proj_center_error 0.05
- name: Cleanup compiler cache
run: |
set -x
ccache --show-stats --verbose
ccache --evict-older-than 1d
ccache --show-stats --verbose
echo "Size of ctcache before: $(du -sh $CTCACHE_DIR)"
echo "Number of ctcache files before: $(find $CTCACHE_DIR | wc -l)"
# Delete cache older than 10 days.
find "$CTCACHE_DIR"/*/ -mtime +10 -print0 | xargs -0 rm -rf
echo "Size of ctcache after: $(du -sh $CTCACHE_DIR)"
echo "Number of ctcache files after: $(find $CTCACHE_DIR | wc -l)"
|
