build.yaml

name: build

on:
  push:
    branches: [ master, develop ]
  pull_request:
    branches: [ master, develop ]
  workflow_dispatch:

jobs:  
  linux-build:
    name: Linux build
    runs-on: ubuntu-20.04

    env:
      CMAKE_BUILD_PARALLEL_LEVEL: 2
      VCPKG_DEFAULT_BINARY_CACHE: '${{ github.workspace }}/bin-cache'
      PCL_INSTALL_PREFIX: '${{ github.workspace }}/pcl-build'
      PCL_MAJOR_VERSION: '1.10'
      PCL_VERSION: '1.10.1'
      ARC: x64-linux

    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
          fetch-depth: '0'

      - name: Create vcpkg binary cache
        run: mkdir ${{ env.VCPKG_DEFAULT_BINARY_CACHE }} 

      - name: Install OpenGL and additional dependencies
        run: |
          sudo apt update
          sudo apt install -y ninja-build \
            autoconf \
            libudev-dev \
            libxinerama-dev \
            libxcursor-dev \
            xorg-dev \
            libglu1-mesa-dev \
            build-essential \
            wget \
            curl \
            zip \
            unzip \
            tar \
            pkg-config \
            dh-autoreconf \
            libxt-dev

      - name: Restore artifacts, or setup vcpkg (do not install any package)
        uses: lukka/run-vcpkg@v6
        with:
          setupOnly: true
          vcpkgDirectory: '${{ github.workspace }}/vcpkg'
          appendedCacheKey: ${{ hashFiles( '**/vcpkg.json' ) }}
          additionalCachedPaths: ${{ github.workspace }}/vcpkg_installed;${{ env.VCPKG_DEFAULT_BINARY_CACHE }}

      - name: Install dependencies
        run: ./vcpkg/vcpkg install --triplet ${{ env.ARC }} --clean-after-build
      
      - name: Cache PCL
        id: cache-pcl
        uses: actions/cache@v2
        with:
          path: ${{ env.PCL_INSTALL_PREFIX }}
          key: ${{ runner.os }}-pcl-build

      - name: Download PCL ${{ env.PCL_VERSION }} release
        if: steps.cache-pcl.outputs.cache-hit != 'true'
        run: |
          mkdir -p ${{ github.workspace }}/pcl-source
          cd ${{ github.workspace }}/pcl-source
          wget -nv https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-${PCL_VERSION}.tar.gz
          tar -xf ./pcl-${PCL_VERSION}.tar.gz
          rm ./pcl-${PCL_VERSION}.tar.gz

      - name: Configure PCL
        if: steps.cache-pcl.outputs.cache-hit != 'true'
        working-directory: ${{ github.workspace }}/pcl-source/pcl-pcl-${{ env.PCL_VERSION }}
        run: |
          cmake -GNinja \
          -DCMAKE_BUILD_TYPE=Release \
          -DBUILD_2d:BOOL=ON \
          -DBUILD_CUDA:BOOL=OFF \
          -DBUILD_GPU:BOOL=OFF \
          -DBUILD_apps:BOOL=OFF \
          -DBUILD_common:BOOL=ON \
          -DBUILD_examples:BOOL=OFF \
          -DBUILD_features:BOOL=ON \
          -DBUILD_filters:BOOL=ON \
          -DBUILD_geometry:BOOL=ON \
          -DBUILD_global_tests:BOOL=OFF \
          -DBUILD_io:BOOL=ON \
          -DBUILD_kdtree:BOOL=ON \
          -DBUILD_keypoints:BOOL=OFF \
          -DBUILD_ml:BOOL=ON \
          -DBUILD_octree:BOOL=ON \
          -DBUILD_outofcore:BOOL=OFF \
          -DBUILD_people:BOOL=OFF \
          -DBUILD_recognition:BOOL=OFF \
          -DBUILD_registration:BOOL=OFF \
          -DBUILD_sample_consensus:BOOL=ON \
          -DBUILD_search:BOOL=ON \
          -DBUILD_segmentation:BOOL=ON \
          -DBUILD_simulation:BOOL=OFF \
          -DBUILD_stereo:BOOL=OFF \
          -DBUILD_surface:BOOL=OFF \
          -DBUILD_surface_on_nurbs:BOOL=0 \
          -DBUILD_tools:BOOL=OFF \
          -DBUILD_tracking:BOOL=OFF \
          -DBUILD_visualization:BOOL=ON \
          -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake \
          -DOpenGL_GL_PREFERENCE=GLVND \
          -DFLANN_INCLUDE_DIR:PATH=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/include \
          -DBoost_INCLUDE_DIR:PATH=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/include \
          -DEIGEN_INCLUDE_DIR:PATH=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/include \
          -DVTK_DIR=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/share/vtk \
          -DFLANN_LIBRARY:PATH=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/lib/libflann_cpp.a \
          -Dpugixml_DIR=${{ github.workspace }}/vcpkg_installed/${{ env.ARC }}/share/pugixml \
          -DCMAKE_INSTALL_PREFIX=${{ env.PCL_INSTALL_PREFIX }} \
          -S . -B ./build

      - name: Build PCL
        if: steps.cache-pcl.outputs.cache-hit != 'true'
        working-directory: ${{ github.workspace }}/pcl-source/pcl-pcl-${{ env.PCL_VERSION }}
        run: |
          cmake --build ./build --config Release --target install
          rm -r ${{ github.workspace }}/pcl-source

      - name: Configure project
        run: cmake --preset linux-ninja -DPCL_DIR:PATH=${{ env.PCL_INSTALL_PREFIX }}/share/pcl-${{ env.PCL_MAJOR_VERSION }}

      - name: Build project
        run: cmake --build ./build --config Release