diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index 08b8084a05..c851c7e36c 100644 --- a/.github/scripts/python.sh +++ b/.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 diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index 91bc4e80ac..fb4b9d9bc6 100644 --- a/.github/workflows/build-python.yml +++ b/.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 diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml index 7071a38761..ee59815c0a 100644 --- a/.github/workflows/windows.yml +++ b/.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 diff --git a/CMakeLists.txt b/CMakeLists.txt index 66b1804aff..05df8a8cdb 100644 --- a/CMakeLists.txt +++ b/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) diff --git a/gtsam/3rdparty/vcpkg/manifest/vcpkg.json b/gtsam/3rdparty/vcpkg/manifest/vcpkg.json index fee414ea7b..a2035ea316 100644 --- a/gtsam/3rdparty/vcpkg/manifest/vcpkg.json +++ b/gtsam/3rdparty/vcpkg/manifest/vcpkg.json @@ -20,6 +20,7 @@ "eigen3", "metis", "tbb", + "pybind11", "geographiclib", { "name":"intel-mkl", diff --git a/gtsam/base/utilities.h b/gtsam/base/utilities.h index 03e9636da4..a67c5d1b6c 100644 --- a/gtsam/base/utilities.h +++ b/gtsam/base/utilities.h @@ -4,6 +4,8 @@ #include #include +#include + namespace gtsam { /** * For Python __str__(). @@ -11,7 +13,7 @@ namespace gtsam { * 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())) {} diff --git a/gtsam/discrete/DiscreteValues.h b/gtsam/discrete/DiscreteValues.h index 9ec08302bd..9fdff014cc 100644 --- a/gtsam/discrete/DiscreteValues.h +++ b/gtsam/discrete/DiscreteValues.h @@ -126,12 +126,12 @@ inline std::vector 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 = {}); diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 2b9c5a45a8..7e05ee4daf 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -396,7 +396,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup { 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 = {}); }; diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index b6046d0bb4..5a72360921 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -41,7 +41,7 @@ namespace gtsam { /// Define collection type: -typedef FastVector FactorIndices; +using FactorIndices = FastVector; // Forward declarations template @@ -57,17 +57,15 @@ class HybridValues; template class FactorGraph { public: - typedef FACTOR FactorType; ///< factor type - typedef std::shared_ptr - sharedFactor; ///< Shared pointer to a factor - typedef sharedFactor value_type; - typedef typename FastVector::iterator iterator; - typedef typename FastVector::const_iterator const_iterator; + using FactorType = FACTOR; ///< factor type + using sharedFactor = std::shared_ptr; ///< Shared pointer to a factor + using value_type = sharedFactor; + using iterator = typename FastVector::iterator; + using const_iterator = typename FastVector::const_iterator; private: - typedef FactorGraph This; ///< Typedef for this class - typedef std::shared_ptr - shared_ptr; ///< Shared pointer for this class + using This = FactorGraph; ///< Typedef for this class + using shared_ptr = std::shared_ptr; ///< Shared pointer for this class /// Check if a DERIVEDFACTOR is in fact derived from FactorType. template diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h index ac29420320..c4015db373 100644 --- a/gtsam/nonlinear/CustomFactor.h +++ b/gtsam/nonlinear/CustomFactor.h @@ -42,7 +42,7 @@ using CustomErrorFunction = std::function Base; - typedef NonlinearFactorGraph This; - typedef std::shared_ptr shared_ptr; + using Base = FactorGraph; + using This = NonlinearFactorGraph; + using shared_ptr = std::shared_ptr; /// @name Standard Constructors /// @{ @@ -130,7 +130,7 @@ namespace gtsam { std::shared_ptr linearize(const Values& linearizationPoint) const; /// typdef for dampen functions used below - typedef std::function& hessianFactor)> Dampen; + using Dampen = std::function& hessianFactor)>; /** * Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h index 27cfdfa2ba..35102401e9 100644 --- a/gtsam/sfm/DsfTrackGenerator.h +++ b/gtsam/sfm/DsfTrackGenerator.h @@ -69,7 +69,7 @@ using MatchIndicesMap = std::map; * correspondence indices, from each image. * @param Length-N list of keypoints, for N images/cameras. */ -std::vector tracksFromPairwiseMatches( +std::vector GTSAM_EXPORT tracksFromPairwiseMatches( const MatchIndicesMap& matches, const KeypointsVector& keypoints, bool verbose = false); diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index f874c2f217..5d40e4d117 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -23,14 +23,8 @@ include(PybindWrap) # Load the pybind11 code - -# This is required to avoid an error in modern pybind11 cmake scripts: -if(POLICY CMP0057) - cmake_policy(SET CMP0057 NEW) -endif() - # Prefer system pybind11 first, if not found, rely on bundled version: -find_package(pybind11 CONFIG QUIET) +find_package(pybind11 CONFIG) if (NOT pybind11_FOUND) add_subdirectory(${PROJECT_SOURCE_DIR}/wrap/pybind11 pybind11) endif() @@ -94,6 +88,14 @@ set(interface_headers set(GTSAM_PYTHON_TARGET gtsam_py) set(GTSAM_PYTHON_UNSTABLE_TARGET gtsam_unstable_py) +set(GTSAM_OUTPUT_NAME "gtsam") +set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable") + +if(MSVC) + set(GTSAM_OUTPUT_NAME "gtsam_py") + set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable_py") +endif() + pybind_wrap(${GTSAM_PYTHON_TARGET} # target "${interface_headers}" # interface_headers "gtsam.cpp" # generated_cpp @@ -109,12 +111,30 @@ pybind_wrap(${GTSAM_PYTHON_TARGET} # target set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" INSTALL_RPATH_USE_LINK_PATH TRUE - OUTPUT_NAME "gtsam" + OUTPUT_NAME "${GTSAM_OUTPUT_NAME}" LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam" DEBUG_POSTFIX "" # Otherwise you will have a wrong name RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name ) +if(WIN32) + set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES + SUFFIX ".pyd" + ) + ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/${GTSAM_OUTPUT_NAME}.pyd" + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/gtsam.pyd" + ) + ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "$;$" + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/" + COMMAND_EXPAND_LISTS + VERBATIM + ) +endif() + # Set the path for the GTSAM python module set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam) @@ -188,7 +208,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON) set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" INSTALL_RPATH_USE_LINK_PATH TRUE - OUTPUT_NAME "gtsam_unstable" + OUTPUT_NAME "${GTSAM_UNSTABLE_OUTPUT_NAME}" LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable" DEBUG_POSTFIX "" # Otherwise you will have a wrong name RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name @@ -208,13 +228,39 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON) # Add gtsam_unstable to the install target list(APPEND GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_UNSTABLE_TARGET}) - + if(WIN32) + set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES + SUFFIX ".pyd" + ) + ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/${GTSAM_UNSTABLE_OUTPUT_NAME}.pyd" + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/gtsam_unstable.pyd" + ) + ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "$;$" + "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/" + COMMAND_EXPAND_LISTS + VERBATIM + ) + endif() + # Custom make command to run all GTSAM_UNSTABLE Python tests + add_custom_target( + python-test-unstable + COMMAND + ${CMAKE_COMMAND} -E env # add package to python path so no need to install + "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}" + ${PYTHON_EXECUTABLE} -m unittest discover -v -s . + DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} + WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/tests" + ) endif() # Add custom target so we can install with `make python-install` set(GTSAM_PYTHON_INSTALL_TARGET python-install) add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET} - COMMAND ${PYTHON_EXECUTABLE} -m pip install . + COMMAND ${PYTHON_EXECUTABLE} -m pip install --user . DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}) diff --git a/python/setup.py.in b/python/setup.py.in index e15e390754..824a6656ed 100644 --- a/python/setup.py.in +++ b/python/setup.py.in @@ -11,7 +11,8 @@ print("PACKAGES: ", packages) package_data = { '': [ "./*.so", - "./*.dll" + "./*.dll", + "./*.pyd", ] }