Merge d108378 into 61f9a98

.github/workflows/build-and-test-sophus-pybind.yml

@@ -0,0 +1,68 @@
+name: Build and Test
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: Build sophus_pybind on ${{ matrix.os }} / ${{ matrix.cmakeOptions }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, macos-10.15]
+    steps:
+      - name : Checkout
+        uses: actions/checkout@v2
+        with:
+          submodules: 'true'
+
+      - name: Install dependencies
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+              # Update & upgrade package lists
+              sudo apt-get update -y
+              sudo apt-get upgrade
+              # Deal with Github CI limitation
+              # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
+              sudo apt install -y libunwind-dev
+
+              # Generic dependencies
+              sudo apt-get install cmake
+
+              # Clean APT cache
+              sudo apt-get clean
+
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+              # Install system deps with Homebrew
+              brew install cmake
+              # VRS dependencies
+              brew install fmt lz4 zstd xxhash
+          else
+              echo "$RUNNER_OS not supported"
+              exit 1
+          fi
+
+      - name: Install sophus_pybind
+        shell: bash
+        run: |
+          # Installing Python and dependencies
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get install libpython3-dev python3-pip
+            sudo pip3 install numpy pytest
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            pip3 install numpy pytest
+          else
+            echo "$RUNNER_OS not supported"
+            exit 1
+          fi
+
+          # Build and install Python bindings
+          pip3 install .
+
+      - name: Run sophus_pybind tests
+        shell: bash
+        run: python3 -m pytest sophus_pybind/tests/sophusPybindTests.py

CMakeLists.txt

@@ -153,6 +153,22 @@ if(BUILD_SOPHUS_EXAMPLES)
     add_subdirectory(examples)
 endif()
 
+# Build python sophus bindings
+option(BUILD_PYTHON_BINDINGS "Build python sophus bindings." OFF)
+if(BUILD_PYTHON_BINDINGS)
+  include(FetchContent)
+  FetchContent_Declare(
+      pybind11
+      GIT_REPOSITORY https://github.com/pybind/pybind11.git
+      GIT_TAG master
+  )
+  FetchContent_MakeAvailable(pybind11)
+
+  add_subdirectory(${pybind11_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}/pybind)
+  pybind11_add_module(sophus_pybind ${CMAKE_CURRENT_SOURCE_DIR}/sophus_pybind/bindings.cpp)
+  target_link_libraries(sophus_pybind PUBLIC sophus)
+endif(BUILD_PYTHON_BINDINGS)
+
 if(SOPHUS_INSTALL)
   # Export package for use from the build tree
   set(SOPHUS_CMAKE_EXPORT_DIR ${CMAKE_INSTALL_DATADIR}/sophus/cmake)

generate_stubs.py

@@ -0,0 +1,9 @@
+import subprocess
+
+subprocess.run(
+    "pybind11-stubgen sophus_pybind -o sophus_pybind-stubs/",
+    shell=True,
+    check=True,
+)
+
+subprocess.run("touch sophus_pybind-stubs/py.typed", shell=True, check=True)

scripts/install_osx_deps.sh

@@ -5,7 +5,7 @@ set -e # exit on error
 
 brew update
 brew install fmt
-
+brew install ccache
 
 # Build a specific version of ceres-solver instead of one shipped over brew
 curl https://raw.githubusercontent.com/Homebrew/homebrew-core/b0792ccba6e71cd028263ca7621db894afc602d2/Formula/ceres-solver.rb -o ceres-solver.rb

setup.py

@@ -0,0 +1,151 @@
+import os
+import re
+import shutil
+import subprocess
+import sys
+
+from setuptools import Extension, find_packages, setup
+from setuptools.command.build_ext import build_ext
+
+ROOT_DIR = os.path.dirname(os.path.abspath(__file__))
+
+# Convert distutils Windows platform specifiers to CMake -A arguments
+PLAT_TO_CMAKE = {
+    "win32": "Win32",
+    "win-amd64": "x64",
+    "win-arm32": "ARM",
+    "win-arm64": "ARM64",
+}
+
+# A CMakeExtension needs a sourcedir instead of a file list.
+# The name must be the _single_ output extension from the CMake build.
+# If you need multiple extensions, see scikit-build.
+class CMakeExtension(Extension):
+    def __init__(self, name, sourcedir=""):
+        Extension.__init__(self, name, sources=[])
+        self.sourcedir = os.path.abspath(sourcedir)
+
+
+class CMakeBuild(build_ext):
+    def build_extension(self, ext):
+        extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name)))
+
+        # required for auto-detection & inclusion of auxiliary "native" libs
+        if not extdir.endswith(os.path.sep):
+            extdir += os.path.sep
+
+        debug = int(os.environ.get("DEBUG", 0)) if self.debug is None else self.debug
+        cfg = "Debug" if debug else "Release"
+
+        # CMake lets you override the generator - we need to check this.
+        # Can be set with Conda-Build, for example.
+        cmake_generator = os.environ.get("CMAKE_GENERATOR", "")
+
+        cmake_args = [
+            "-DBUILD_PYTHON_BINDINGS=ON",
+            "-DBUILD_SOPHUS_EXAMPLES=OFF",
+            "-DBUILD_SOPHUS_TESTS=OFF",
+        ]
+        build_args = []
+        # Adding CMake arguments set as environment variable
+        # (needed e.g. to build for ARM OSx on conda-forge)
+        if "CMAKE_ARGS" in os.environ:
+            cmake_args += [item for item in os.environ["CMAKE_ARGS"].split(" ") if item]
+
+        if "PYTHONPATH" in os.environ and "pip-build-env" in os.environ["PYTHONPATH"]:
+            del os.environ["PYTHONPATH"]
+
+        if self.compiler.compiler_type != "msvc":
+            # Using Ninja-build since it a) is available as a wheel and b)
+            # multithreaded automatically. MSVC would require all variables be
+            # exported for Ninja to pick it up, which is a little tricky to do.
+            # Users can override the generator with CMAKE_GENERATOR in CMake
+            # 3.15+.
+            if not cmake_generator:
+                try:
+                    import ninja  # noqa: F401
+
+                    cmake_args += ["-GNinja"]
+                except ImportError:
+                    pass
+
+        else:
+
+            # Single config generators are handled "normally"
+            single_config = any(x in cmake_generator for x in {"NMake", "Ninja"})
+
+            # CMake allows an arch-in-generator style for backward compatibility
+            contains_arch = any(x in cmake_generator for x in {"ARM", "Win64"})
+
+            # Specify the arch if using MSVC generator, but only if it doesn't
+            # contain a backward-compatibility arch spec already in the
+            # generator name.
+            if not single_config and not contains_arch:
+                cmake_args += ["-A", PLAT_TO_CMAKE[self.plat_name]]
+
+            # Multi-config generators have a different way to specify configs
+            if not single_config:
+                cmake_args += [
+                    f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{cfg.upper()}={extdir}"
+                ]
+                build_args += ["--config", cfg]
+
+        if sys.platform.startswith("darwin"):
+            # Cross-compile support for macOS - respect ARCHFLAGS if set
+            archs = re.findall(r"-arch (\S+)", os.environ.get("ARCHFLAGS", ""))
+            if archs:
+                cmake_args += ["-DCMAKE_OSX_ARCHITECTURES={}".format(";".join(archs))]
+
+        # Set CMAKE_BUILD_PARALLEL_LEVEL to control the parallel build level
+        # across all generators.
+        if "CMAKE_BUILD_PARALLEL_LEVEL" not in os.environ:
+            # self.parallel is a Python 3 only way to set parallel jobs by hand
+            # using -j in the build_ext call, not supported by pip or PyPA-build.
+            if hasattr(self, "parallel") and self.parallel:
+                # CMake 3.12+ only.
+                build_args += [f"-j{self.parallel}"]
+
+        if not os.path.exists(self.build_temp):
+            os.makedirs(self.build_temp)
+
+        if not os.path.exists(self.build_lib):
+                os.makedirs(self.build_lib)
+
+        subprocess.check_call(["cmake", ext.sourcedir] + cmake_args, cwd=self.build_temp)
+        subprocess.check_call(
+            ["cmake", "--build", "."] + build_args, cwd=self.build_temp
+        )
+
+        # copy stubs files from sophus_pybind-stubs to lib folder to be installed
+        subprocess.run(
+            f"cp sophus_pybind-stubs/*.pyi {self.build_lib}", shell=True, check=True,
+        )
+        subprocess.run(
+            f"cp sophus_pybind-stubs/*.typed {self.build_lib}",  shell=True, check=True,
+        )
+        # copy .so file to lib
+        subprocess.run(f"cp {self.build_temp}/*.so {self.build_lib}/", shell=True, check=True,)
+
+
+def main():
+    # The information here can also be placed in setup.cfg - better separation of
+    # logic and declaration, and simpler if you include description/version in a file.
+    setup(
+        name="sophus_pybind",
+        version="1.22.10",
+        description="Sophus python API",
+        long_description="Python API for sophus library",
+        url="https://github.com/strasdat/sophus",
+        ext_modules=[CMakeExtension("sophus_pybind", sourcedir=ROOT_DIR)],
+        author="Cheng Peng, David Caruso",
+        cmdclass={"build_ext": CMakeBuild},
+        zip_safe=False,
+        python_requires=">=3.6",
+        install_requires=["numpy"],
+        packages=find_packages(),
+        license="Apache-2.0",
+    )
+
+
+if __name__ == "__main__":
+    main()