Compile gtsam python for windows

.github/scripts/python.sh

@@ -65,14 +65,13 @@ function build()
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2
 
-  $PYTHON -m pip install --user build/python
+  cmake --build build --target python-install
 }
 
 function test()
 {
-  cd $GITHUB_WORKSPACE/python/gtsam/tests
-  $PYTHON -m unittest discover -v
-  cd $GITHUB_WORKSPACE
+  cmake --build build --target python-test
+  cmake --build build --target python-test-unstable
 }
 
 # select between build or test

.github/workflows/build-python.yml

@@ -18,9 +18,11 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       PYTHON_VERSION: ${{ matrix.python_version }}
+      BOOST_VERSION: 1.72.0
+      BOOST_EXE: boost_1_72_0-msvc-14.2      
 
     strategy:
-      fail-fast: true
+      fail-fast: false
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
@@ -30,6 +32,7 @@ jobs:
             ubuntu-20.04-gcc-9-tbb,
             ubuntu-20.04-clang-9,
             macOS-11-xcode-13.4.1,
+            windows-2019-msbuild,
           ]
 
         build_type: [Release]
@@ -56,6 +59,10 @@ jobs:
             compiler: xcode
             version: "13.4.1"
 
+          - name: windows-2019-msbuild
+            os: windows-2019
+            platform: 64
+
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -97,29 +104,71 @@ jobs:
           echo "CC=clang" >> $GITHUB_ENV
           echo "CXX=clang++" >> $GITHUB_ENV
 
+      - name: Setup msbuild (Windows)
+        if: runner.os == 'Windows'
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x${{matrix.platform}}
+
+      - name: Setup python (Windows)
+        uses: actions/setup-python@v4
+        if: runner.os == 'Windows'
+        with:
+          python-version: ${{ matrix.python_version }}
+
+      - name: Install ninja (Windows)
+        if: runner.os == 'Windows'
+        shell: bash
+        run: |
+          choco install ninja
+          ninja --version
+          where ninja
+
+      - name: Install Boost (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          # Snippet from: https://github.com/actions/virtual-environments/issues/2667
+          $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64"
+
+          # Use the prebuilt binary for Windows
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe"
+          (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
+          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH"
+
+          # Set the BOOST_ROOT variable
+          echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
+
       - name: Set GTSAM_WITH_TBB Flag
         if: matrix.flag == 'tbb'
         run: |
           echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
           echo "GTSAM Uses TBB"
 
-      - name: Set Swap Space
+      - name: Set Swap Space (Linux)
         if: runner.os == 'Linux'
         uses: pierotofy/set-swap-space@master
         with:
           swap-size-gb: 6
 
-      - name: Install System Dependencies
+      - name: Install System Dependencies (Linux, macOS)
+        if: runner.os != 'Windows'
         run: |
           bash .github/scripts/python.sh -d
 
       - name: Install Python Dependencies
+        shell: bash
         run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt
 
       - name: Build
+        shell: bash
         run: |
           bash .github/scripts/python.sh -b
 
       - name: Test
+        # Disable running tests for windows because some of them are failing.
+        # Remove this condition when you want to run tests on windows CI.
+        # if: runner.os != 'Windows'
+        shell: bash
         run: |
           bash .github/scripts/python.sh -t

.github/workflows/windows.yml

@@ -51,7 +51,7 @@ jobs:
 
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.11' 
+          python-version: '3'
 
       - name: Install python packages
         if: success()
@@ -64,7 +64,7 @@ jobs:
           :: C:\ProgramData\chocolatey\bin\python3.11.exe -m pip install pyparsing
           python --version
           python -m pip --version
-          python -m pip install pyparsing
+          python -m pip install -r python/dev_requirements.txt
 
 
       - name: Install ninja
@@ -99,13 +99,14 @@ jobs:
               -DVCPKG_MANIFEST_DIR=%VCPKG_CONFIGS%\manifest ^
               -DVCPKG_INSTALLED_DIR=%VCPKG_ROOT%\installed ^
               -DVCPKG_OVERLAY_TRIPLETS=%VCPKG_CONFIGS%\triplets ^
-              -DVCPKG_TARGET_TRIPLET=x64-windows ^
+              -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
               -DVCPKG_INSTALL_OPTIONS=--clean-after-build ^
+              -DCMAKE_BUILD_TYPE=Release ^
               -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF ^
               -DGTSAM_ROT3_EXPMAP=ON ^
               -DGTSAM_POSE3_EXPMAP=ON ^
-              -DGTSAM_BUILD_PYTHON=OFF ^
-              -DGTSAM_BUILD_TESTS=ON ^
+              -DGTSAM_BUILD_PYTHON=ON ^
+              -DGTSAM_BUILD_TESTS=OFF ^
               -DGTSAM_BUILD_UNSTABLE=OFF ^
               -DGTSAM_USE_SYSTEM_EIGEN=ON ^
               -DGTSAM_USE_SYSTEM_METIS=ON ^
@@ -125,6 +126,14 @@ jobs:
         run: |
           cmake --build build --config Release -j 2
 
+      - name: Run Python tests
+        if: success() 
+        shell: cmd
+        run: |
+          cmake --build build --target python-install
+          dir/w build\python\gtsam\
+          cmake --build build --target python-test
+
       - name: Run tests
         if: success() 
         shell: cmd

CMakeLists.txt

@@ -1,5 +1,10 @@
 cmake_minimum_required(VERSION 3.0)
 
+# This is required to avoid an error in modern pybind11 cmake scripts:
+if(POLICY CMP0057)
+    cmake_policy(SET CMP0057 NEW)
+endif()
+
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 3)

gtsam/3rdparty/vcpkg/manifest/vcpkg.json

@@ -20,6 +20,7 @@
     "eigen3",
     "metis",
     "tbb",
+    "pybind11",
     "geographiclib",
     {
       "name":"intel-mkl",

gtsam/base/utilities.h

@@ -4,14 +4,16 @@
 #include <iostream>
 #include <sstream>
 
+#include <gtsam/dllexport.h>
+
 namespace gtsam {
 /**
  * For Python __str__().
  * Redirect std cout to a string stream so we can return a string representation
  * of an object when it prints to cout.
  * https://stackoverflow.com/questions/5419356/redirect-stdout-stderr-to-a-string
  */
-struct RedirectCout {
+struct GTSAM_EXPORT RedirectCout {
   /// constructor -- redirect stdout buffer to a stringstream buffer
   RedirectCout() : ssBuffer_(), coutBuffer_(std::cout.rdbuf(ssBuffer_.rdbuf())) {}
 

gtsam/discrete/DiscreteValues.h

@@ -126,12 +126,12 @@ inline std::vector<DiscreteValues> cartesianProduct(const DiscreteKeys& keys) {
 }
 
 /// Free version of markdown.
-std::string markdown(const DiscreteValues& values,
+std::string GTSAM_EXPORT markdown(const DiscreteValues& values,
                      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                      const DiscreteValues::Names& names = {});
 
 /// Free version of html.
-std::string html(const DiscreteValues& values,
+std::string GTSAM_EXPORT html(const DiscreteValues& values,
                  const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                  const DiscreteValues::Names& names = {});
 

gtsam/geometry/Rot3.h

@@ -396,7 +396,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     Matrix3 AdjointMap() const { return matrix(); }
 
     // Chart at origin, depends on compile-time flag ROT3_DEFAULT_COORDINATES_MODE
-    struct ChartAtOrigin {
+    struct GTSAM_EXPORT ChartAtOrigin {
       static Rot3 Retract(const Vector3& v, ChartJacobian H = {});
       static Vector3 Local(const Rot3& r, ChartJacobian H = {});
     };

gtsam/inference/FactorGraph.h

@@ -41,7 +41,7 @@
 
 namespace gtsam {
 /// Define collection type:
-typedef FastVector<FactorIndex> FactorIndices;
+using FactorIndices = FastVector<FactorIndex>;
 
 // Forward declarations
 template <class CLIQUE>
@@ -57,17 +57,15 @@ class HybridValues;
 template <class FACTOR>
 class FactorGraph {
  public:
-  typedef FACTOR FactorType;  ///< factor type
-  typedef std::shared_ptr<FACTOR>
-      sharedFactor;  ///< Shared pointer to a factor
-  typedef sharedFactor value_type;
-  typedef typename FastVector<sharedFactor>::iterator iterator;
-  typedef typename FastVector<sharedFactor>::const_iterator const_iterator;
+  using FactorType = FACTOR;  ///< factor type
+  using sharedFactor = std::shared_ptr<FACTOR>;  ///< Shared pointer to a factor
+  using value_type = sharedFactor;
+  using iterator = typename FastVector<sharedFactor>::iterator;
+  using const_iterator = typename FastVector<sharedFactor>::const_iterator;
 
  private:
-  typedef FactorGraph<FACTOR> This;  ///< Typedef for this class
-  typedef std::shared_ptr<This>
-      shared_ptr;  ///< Shared pointer for this class
+  using This = FactorGraph<FACTOR>;  ///< Typedef for this class
+  using shared_ptr = std::shared_ptr<This>;  ///< Shared pointer for this class
 
   /// Check if a DERIVEDFACTOR is in fact derived from FactorType.
   template <typename DERIVEDFACTOR>

gtsam/nonlinear/CustomFactor.h

@@ -42,7 +42,7 @@ using CustomErrorFunction = std::function<Vector(const CustomFactor &, const Val
  *
  * This factor is mainly for creating a custom factor in Python.
  */
-class CustomFactor: public NoiseModelFactor {
+class GTSAM_EXPORT CustomFactor: public NoiseModelFactor {
 protected:
   CustomErrorFunction error_function_;
 

gtsam/nonlinear/NonlinearFactorGraph.h

@@ -56,9 +56,9 @@ namespace gtsam {
 
   public:
 
-    typedef FactorGraph<NonlinearFactor> Base;
-    typedef NonlinearFactorGraph This;
-    typedef std::shared_ptr<This> shared_ptr;
+    using Base = FactorGraph<NonlinearFactor>;
+    using This = NonlinearFactorGraph;
+    using shared_ptr = std::shared_ptr<This>;
 
     /// @name Standard Constructors
     /// @{
@@ -130,7 +130,7 @@ namespace gtsam {
     std::shared_ptr<GaussianFactorGraph> linearize(const Values& linearizationPoint) const;
 
     /// typdef for dampen functions used below
-    typedef std::function<void(const std::shared_ptr<HessianFactor>& hessianFactor)> Dampen;
+    using Dampen = std::function<void(const std::shared_ptr<HessianFactor>& hessianFactor)>;
 
     /**
      * Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly

gtsam/sfm/DsfTrackGenerator.h

@@ -69,7 +69,7 @@ using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
  *        correspondence indices, from each image.
  * @param Length-N list of keypoints, for N images/cameras.
  */
-std::vector<SfmTrack2d> tracksFromPairwiseMatches(
+std::vector<SfmTrack2d> GTSAM_EXPORT tracksFromPairwiseMatches(
     const MatchIndicesMap& matches, const KeypointsVector& keypoints,
     bool verbose = false);