Add CPU build pipeline

.github/workflows/docker.yml

@@ -1,4 +1,4 @@
-name: OpenSplat (Docker)
+name: OpenSplat (Docker CUDA)
 
 on:
   push:

.github/workflows/hip.yml

@@ -174,7 +174,8 @@ jobs:
             -DOPENSPLAT_BUILD_SIMPLE_TRAINER=ON
           ninja
 
-      - name: Save Converted Artifacts
+      - name: Save Artifacts
+        if: ${{ matrix.os == 'ubuntu-22.04' && matrix.rocm-version == '5.7.1' && matrix.torch-version == '2.2.1' && matrix.cmake-build-type == 'Release' }}
         uses: actions/upload-artifact@v4
         with:
           path: |

.github/workflows/ubuntu-cpu.yml

@@ -0,0 +1,109 @@
+name: OpenSplat (Ubuntu CPU)
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [ assigned, opened, synchronize, reopened ]
+  release:
+    types: [ published, edited ]
+
+jobs:
+  build:
+    name: ${{ matrix.os }}-cpu-torch-${{ matrix.torch-version }}-${{ matrix.cmake-build-type }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04, ubuntu-20.04] # [ubuntu-22.04, ubuntu-20.04, ubuntu-18.04]
+        arch: [x64] # [x64, x86]
+        torch-version: [2.1.2, 2.2.1] # [1.12.0, 1.13.0, 2.0.0, 2.1.0, 2.1.1, 2.1.2, 2.2.0, 2.2.1]
+        cmake-build-type: [Release] # [Debug, ClangTidy]
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/ccache
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CL: /MP
+      CMAKE_GENERATOR: Ninja
+      CMAKE_GENERATOR_PLATFORM: ${{matrix.arch}}
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Setup Ubuntu
+        run: |
+          sudo apt-get update     
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            ninja-build \
+            libopencv-dev \
+            wget
+          wget -nv https://github.com/ccache/ccache/releases/download/v4.9.1/ccache-4.9.1-linux-x86_64.tar.xz
+          sudo tar xf ccache-4.9.1-linux-x86_64.tar.xz -C /usr/bin --strip-components=1 --no-same-owner ccache-4.9.1-linux-x86_64/ccache
+          rm -f ccache-*-linux-x86_64.tar.xz
+          ccache --version
+
+      - name: Sudo Tar Wrapper
+        run: |
+          # Workaround: https://github.com/containers/podman/discussions/17868
+          sudo mv -fv /usr/bin/tar /usr/bin/tar.orig
+          echo -e '#!/bin/sh\n\nsudo /usr/bin/tar.orig "$@"' | sudo tee -a /usr/bin/tar
+          sudo chmod +x /usr/bin/tar
+
+      - name: Restore LibTorch Cache
+        uses: actions/cache@v4
+        id: libtorch-cache
+        with:
+          key: libtorch-${{ matrix.torch-version }}-cpu-ubuntu
+          path: |
+            ${{ github.workspace }}/libtorch
+
+      - name: Install LibTorch
+        if: ${{ steps.libtorch-cache.outputs.cache-hit != 'true' }}
+        run: |
+          wget --no-check-certificate -nv https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${{ matrix.torch-version }}%2Bcpu.zip -O libtorch.zip
+          unzip -q ${{ github.workspace }}/libtorch.zip -d ${{ github.workspace }}/
+          rm ${{ github.workspace }}/libtorch.zip
+
+      - name: Cache Build
+        uses: actions/cache@v4
+        id: cache-builds
+        with:
+          key: ${{ matrix.os }}-cpu-torch-${{ matrix.cmake-build-type }}-ccache-${{ github.run_id }}
+          restore-keys: ${{ matrix.os }}-cpu-torch-${{ matrix.cmake-build-type }}-ccache-
+          path: ${{ env.CCACHE_DIR }}
+
+      - name: Configure And Build
+        run: |
+          set -x
+          mkdir build
+          cd build
+          cmake .. \
+            -G${CMAKE_GENERATOR} \
+            -DCMAKE_BUILD_TYPE=${{ matrix.cmake-build-type }} \
+            -DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
+            -DCMAKE_PREFIX_PATH=${{ github.workspace }}/libtorch \
+            -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install \
+            -DOPENSPLAT_BUILD_SIMPLE_TRAINER=ON
+          ninja
+
+      - name: Save Artifacts
+        if: ${{ matrix.os == 'ubuntu-22.04' && matrix.torch-version == '2.2.1' && matrix.cmake-build-type == 'Release' }}
+        uses: actions/upload-artifact@v4
+        with:
+          path: |
+            build/libgsplat_cpu.a
+            build/opensplat
+            build/simple_trainer
+
+      - name: Clean Compiler Cache
+        run: |
+          set -x
+          ccache --show-stats
+          ccache --evict-older-than 7d
+          ccache -s
+          ccache --show-stats

.github/workflows/ubuntu.yml

@@ -1,4 +1,4 @@
-name: OpenSplat (Ubuntu)
+name: OpenSplat (Ubuntu CUDA)
 
 on:
   push:
@@ -122,9 +122,19 @@ jobs:
             -DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
             -DCMAKE_PREFIX_PATH=${{ github.workspace }}/libtorch \
             -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install \
-            -DCUDA_TOOLKIT_ROOT_DIR=$CUDA_HOME
+            -DCUDA_TOOLKIT_ROOT_DIR=$CUDA_HOME \
+            -DOPENSPLAT_BUILD_SIMPLE_TRAINER=ON
           ninja
 
+      - name: Save Artifacts
+        if: ${{ matrix.os == 'ubuntu-22.04' && matrix.cuda-version == '12.1.1' && matrix.torch-version == '2.2.1' && matrix.cmake-build-type == 'Release' }}
+        uses: actions/upload-artifact@v4
+        with:
+          path: |
+            build/libgsplat.a
+            build/opensplat
+            build/simple_trainer
+
       - name: Clean Compiler Cache
         run: |
           set -x

.github/workflows/windows.yml

@@ -1,4 +1,4 @@
-name: OpenSplat (Windows)
+name: OpenSplat (Windows CUDA)
 
 on:
   push:
@@ -136,9 +136,19 @@ jobs:
             -DCMAKE_CXX_COMPILER_LAUNCHER:FILEPATH=ccache `
             -DCMAKE_PREFIX_PATH=${{ github.workspace }}\libtorch `
             -DOPENCV_DIR=${{ github.workspace }}\OpenCV\opencv\build `
-            -DTORCH_CUDA_ARCH_LIST="${{ env.TORCH_CUDA_ARCH_LIST }}"
+            -DTORCH_CUDA_ARCH_LIST="${{ env.TORCH_CUDA_ARCH_LIST }}" `
+            -DOPENSPLAT_BUILD_SIMPLE_TRAINER=ON
           cmake --build . --parallel --config ${{ matrix.cmake-build-type }}
 
+      - name: Save Artifacts
+        if: ${{ matrix.os == 'windows-2022' && matrix.torch-version == '2.2.1' && matrix.cmake-build-type == 'Release' }}
+        uses: actions/upload-artifact@v4
+        with:
+          path: |
+            build/libgsplat.so
+            build/opensplat
+            build/simple_trainer
+
       - name: Clean Compiler Cache
         shell: pwsh
         run: |

CMakeLists.txt

@@ -86,6 +86,9 @@ add_executable(opensplat opensplat.cpp point_io.cpp nerfstudio.cpp model.cpp kdt
 set_property(TARGET opensplat PROPERTY CXX_STANDARD 17)
 target_include_directories(opensplat PRIVATE ${PROJECT_SOURCE_DIR}/vendor/glm ${GPU_INCLUDE_DIRS})
 target_link_libraries(opensplat PUBLIC ${STDPPFS_LIBRARY} ${GPU_LIBRARIES} ${GSPLAT_LIBS} ${TORCH_LIBRARIES} ${OpenCV_LIBS})
+if (NOT WIN32)
+    target_link_libraries(opensplat PUBLIC pthread)
+endif()
 if(GPU_RUNTIME STREQUAL "HIP")
     target_compile_definitions(opensplat PRIVATE USE_HIP __HIP_PLATFORM_AMD__)
 elseif(GPU_RUNTIME STREQUAL "CUDA")
@@ -96,6 +99,9 @@ if(OPENSPLAT_BUILD_SIMPLE_TRAINER)
     add_executable(simple_trainer simple_trainer.cpp project_gaussians.cpp rasterize_gaussians.cpp cv_utils.cpp)
     target_include_directories(simple_trainer PRIVATE ${PROJECT_SOURCE_DIR}/vendor/glm ${GPU_INCLUDE_DIRS})
     target_link_libraries(simple_trainer PUBLIC ${GPU_LIBRARIES} ${GSPLAT_LIBS} ${TORCH_LIBRARIES} ${OpenCV_LIBS})
+    if (NOT WIN32)
+        target_link_libraries(simple_trainer PUBLIC pthread)
+    endif()
     set_property(TARGET simple_trainer PROPERTY CXX_STANDARD 17)
     if(GPU_RUNTIME STREQUAL "HIP")
         target_compile_definitions(simple_trainer PRIVATE USE_HIP __HIP_PLATFORM_AMD__)