Add feature to choose voxel color mode when creating VoxelGrid from PointCloud #9377
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| 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 | |
| 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-2019 | |
| 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 | |
| CUDA_VERSION: 11.0.3 | |
| 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 | |
| $CUDA_VER_FULL = "${{ matrix.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 | |
| if ( $CUDA_VER_ARR[0] -ge 11 ) { | |
| $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe" | |
| } else { | |
| $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER/Prod/network_installers/cuda_$($CUDA_VER_FULL)_win10_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") { | |
| ${env:DEVELOPER_BUILD}="ON" | |
| } | |
| cmake -G "Visual Studio 16 2019" -A x64 ` | |
| -DDEVELOPER_BUILD="${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: | | |
| $ErrorActionPreference = 'Stop' | |
| mkdir build | |
| cd build | |
| cmake -G "Visual Studio 16 2019" -A x64 ` | |
| -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" ` | |
| -DSTATIC_WINDOWS_RUNTIME=${{ 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-2019 | |
| strategy: | |
| fail-fast: false | |
| # https://github.community/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") { | |
| ${env:DEVELOPER_BUILD}="ON" | |
| } | |
| cmake -G "Visual Studio 16 2019" -A x64 ` | |
| -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" ` | |
| -DDEVELOPER_BUILD="${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 | |
| 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 |