Camera coordinate frame visualization with LineSet #3683
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| name: Ubuntu CUDA | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| developer_build: | |
| description: 'Set to OFF for Release packages.' | |
| required: false | |
| default: 'ON' | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| # Reduce CI frequency for paid CI. | |
| types: [review_requested] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| GCE_GPU_CI_SA: ${{ secrets.GCE_GPU_CI_SA }} | |
| GCE_CLI_GHA_VERSION: "416.0.0" | |
| DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }} | |
| jobs: | |
| skip-check: | |
| runs-on: ubuntu-latest | |
| name: Skip job for forks | |
| outputs: | |
| skip: ${{ steps.check.outputs.skip }} | |
| steps: | |
| - name: Skip check | |
| id: check | |
| run: | | |
| if [ "${GITHUB_REPOSITORY}" == "isl-org/Open3D" ] && [ -n "${GCE_GPU_CI_SA}" ] ; then | |
| echo "Secrets available: performing GCE test" | |
| echo "skip=no" >> $GITHUB_OUTPUT | |
| else | |
| echo "Secrets not available: skipping GCE test" | |
| echo "skip=yes" >> $GITHUB_OUTPUT | |
| fi | |
| build-and-run-docker: | |
| name: Build and run | |
| runs-on: ubuntu-latest | |
| needs: [skip-check] | |
| if: needs.skip-check.outputs.skip == 'no' | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - CI_CONFIG: 2-bionic | |
| - CI_CONFIG: 3-ml-shared-bionic | |
| - CI_CONFIG: 4-shared-bionic | |
| - CI_CONFIG: 5-ml-focal | |
| env: | |
| # Export everything from matrix to be easily used. | |
| # Docker tag and ccache names must be consistent with docker_build.sh | |
| CI_CONFIG : ${{ matrix.CI_CONFIG }} | |
| BUILD_PACKAGE : ${{ contains(fromJson('["3-ml-shared-bionic", "4-shared-bionic"]'), matrix.CI_CONFIG) }} | |
| GCE_INSTANCE_PREFIX: open3d-ci-${{ matrix.CI_CONFIG }} | |
| DOCKER_TAG : open3d-ci:${{ matrix.CI_CONFIG }} | |
| CCACHE_TAR_NAME : open3d-ci-${{ matrix.CI_CONFIG }} | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: 'false' | |
| - name: Package code | |
| run: | | |
| # GITHUB_WORKSPACE: /home/runner/work/Open3D/Open3D | |
| cd "${GITHUB_WORKSPACE}/.." | |
| tar -czvf Open3D.tar.gz Open3D | |
| ls -alh | |
| - name: GCloud CLI auth | |
| uses: 'google-github-actions/auth@v2' | |
| with: | |
| project_id: ${{ secrets.GCE_PROJECT }} | |
| credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}' | |
| - name: GCloud CLI setup | |
| uses: google-github-actions/setup-gcloud@v2 | |
| with: | |
| version: ${{ env.GCE_CLI_GHA_VERSION }} | |
| project_id: ${{ secrets.GCE_PROJECT }} | |
| - name: VM create | |
| run: | | |
| INSTANCE_NAME="${GCE_INSTANCE_PREFIX}-${GITHUB_SHA::8}" | |
| INSTANCE_ZONES=(us-west1-a | |
| us-west1-b | |
| us-central1-a | |
| us-central1-b | |
| us-central1-f | |
| us-east1-c | |
| us-east1-d | |
| us-east4-b | |
| southamerica-east1-c | |
| europe-west2-b | |
| europe-west3-b | |
| europe-west4-b | |
| europe-west4-c | |
| europe-west2-a | |
| asia-southeast1-b | |
| asia-southeast1-c | |
| australia-southeast1-a) | |
| # GCE only supports GPU on n1-standard (2020/07) | |
| ZONE_ID=0 | |
| until ((ZONE_ID >= ${#INSTANCE_ZONES[@]})) || | |
| gcloud compute instances create "$INSTANCE_NAME" \ | |
| --zone="${INSTANCE_ZONES[$ZONE_ID]}" \ | |
| --accelerator="count=2,type=nvidia-tesla-t4" \ | |
| --maintenance-policy="TERMINATE" \ | |
| --machine-type=n1-standard-8 \ | |
| --boot-disk-size="128GB" \ | |
| --boot-disk-type="pd-ssd" \ | |
| --image-family="ubuntu-os-docker-gpu-2004-lts" \ | |
| --metadata-from-file=startup-script=./util/gcloud_auto_clean.sh \ | |
| --scopes="storage-full,compute-rw" \ | |
| --service-account="$GCE_GPU_CI_SA"; do | |
| ((ZONE_ID = ZONE_ID + 1)) | |
| done | |
| sleep 90 | |
| echo "GCE_ZONE=${INSTANCE_ZONES[$ZONE_ID]}" >> "${GITHUB_ENV}" | |
| echo "INSTANCE_NAME=${INSTANCE_NAME}" >> "${GITHUB_ENV}" | |
| exit $((ZONE_ID >= ${#INSTANCE_ZONES[@]})) # 0 => success | |
| - name: VM copy code | |
| run: | | |
| gcloud compute scp \ | |
| "${GITHUB_WORKSPACE}/../Open3D.tar.gz" "${INSTANCE_NAME}":~ \ | |
| --zone "${GCE_ZONE}" | |
| gcloud compute ssh "${INSTANCE_NAME}" \ | |
| --zone "${GCE_ZONE}" \ | |
| --command "ls -alh \ | |
| && tar -xvzf Open3D.tar.gz \ | |
| && ls -alh \ | |
| && ls -alh Open3D \ | |
| && nvidia-smi" | |
| - name: VM build docker | |
| run: | | |
| if [ "${BUILD_PACKAGE}" == "true" ] && [ "$DEVELOPER_BUILD" == "OFF" ]; then | |
| export RELEASE_TAG="-release" | |
| fi | |
| gcloud compute ssh "${INSTANCE_NAME}" \ | |
| --zone="${GCE_ZONE}" \ | |
| --command="sudo Open3D/docker/docker_build.sh ${CI_CONFIG}${RELEASE_TAG:-}" | |
| if [ "${BUILD_PACKAGE}" == 'true' ]; then | |
| gcloud compute scp --zone="${GCE_ZONE}" \ | |
| "${INSTANCE_NAME}":open3d-devel-linux*.tar.xz "$PWD" | |
| fi | |
| - name: Upload package | |
| if: ${{ env.BUILD_PACKAGE == 'true' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: open3d-devel-linux-x86_64-cuda-${{ matrix.CI_CONFIG }} | |
| path: open3d-devel-linux*.tar.xz | |
| if-no-files-found: error | |
| - name: Update devel release | |
| if: ${{ github.ref == 'refs/heads/main' && env.BUILD_PACKAGE == 'true' }} | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release upload main-devel open3d-devel-linux-*.tar.xz --clobber | |
| gh release view main-devel | |
| - name: VM run docker | |
| run: | | |
| gcloud compute ssh "${INSTANCE_NAME}" \ | |
| --zone="${GCE_ZONE}" \ | |
| --command="sudo Open3D/docker/docker_test.sh ${CI_CONFIG}" | |
| - name: VM ccache upload | |
| if: ${{ github.ref == 'refs/heads/main' }} | |
| run: | | |
| gcloud compute ssh "${INSTANCE_NAME}" \ | |
| --zone="${GCE_ZONE}" \ | |
| --command="ls -alh \ | |
| && gsutil cp ${CCACHE_TAR_NAME}.tar.gz gs://open3d-ci-cache/" | |
| - name: VM delete | |
| if: always() | |
| run: | | |
| gcloud compute instances delete "${INSTANCE_NAME}" --zone "${GCE_ZONE}" | |
| ls -alh "${HOME}/.ssh" | |
| gcloud compute os-login describe-profile | |
| gcloud compute os-login ssh-keys remove --key-file "${HOME}/.ssh/google_compute_engine.pub" |