Make into pypi package with macos and windows support (#51)

* test for macos and windows support

* Apple Clang has issues with std::log as constexpr

* static cast implicit type conversions, include numeric

* disable msvc warnings as error, add python cibuildwheel for macos

* drop support for ubuntu 20.04, support python version >=3.8

* cache cmake build type for opencv windows

* statically linked CRT OFF

* add pypi workflow

* all set for pip install

* fix artifact same-name error due to shift to upload-artifact@v4

* try this

* remove matrix.version, matrix.os for artifact name is enough

* modify readme for pip install

* bump version

* cache v2 will literally break CI from 1st Feb 2025

.github/workflows/cpp.yml

@@ -14,7 +14,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
+        os: [ubuntu-24.04, ubuntu-22.04, windows-2022, macos-14, macos-15]
     steps:
       - uses: actions/checkout@v3
       - name: Setup cmake
@@ -35,12 +35,12 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
 
     steps:
       - uses: actions/checkout@v3
       - name: Cache dependencies
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: ~/.apt/cache
           key: ${{ runner.os }}-apt-${{ hashFiles('**/ubuntu_dependencies.yml') }}

.github/workflows/pypi.yml

@@ -0,0 +1,67 @@
+name: Publish to PyPI.org
+on:
+  release:
+    types: [published]
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Build sdist
+        run: pipx run build --sdist ${{github.workspace}}/python/
+      - name: Move sdist to dist
+        run: mkdir -p dist && mv ${{github.workspace}}/python/dist/*.tar.gz dist/
+
+      - uses: actions/upload-artifact@v4
+        with:
+          path: dist/*.tar.gz
+
+  cibuildwheel:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, windows-2022, macos-15]
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Build test wheels (only PRs)
+        if: github.event_name != 'release'
+        uses: pypa/cibuildwheel@v2.22.0
+        env: # build 1 build per platform just to make sure we can do it later when releasing
+          CIBW_BUILD: "cp310-*"
+        with:
+          package-dir: ${{github.workspace}}/python/
+
+      - name: Build all wheels
+        if: github.event_name == 'release'
+        uses: pypa/cibuildwheel@v2.22.0
+        with:
+          package-dir: ${{github.workspace}}/python/
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: artifact-${{ matrix.os }}
+          path: ./wheelhouse/*.whl
+
+  pypi:
+    if: github.event_name == 'release'
+    needs: [cibuildwheel, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: artifact
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}

.github/workflows/python.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
+        os: [ubuntu-24.04, ubuntu-22.04, windows-2022, macos-14, macos-15]
 
     steps:
       - uses: actions/checkout@v3

README.md

@@ -3,6 +3,8 @@
     <a href="https://github.com/PRBonn/MapClosures/releases"><img src="https://img.shields.io/github/v/release/PRBonn/MapClosures?label=version" /></a>
     <a href="https://github.com/PRBonn/MapClosures/blob/main/LICENSE"><img src=https://img.shields.io/badge/license-MIT-green" /></a>
     <a href="https://github.com/PRBonn/MapClosures/blob/main/"><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
+    <a href="https://github.com/PRBonn/MapClosures/blob/main/"><img src="https://img.shields.io/badge/Windows-0078D6?st&logo=windows&logoColor=white" /></a>
+    <a href="https://github.com/PRBonn/MapClosures/blob/main/"><img src="https://img.shields.io/badge/mac%20os-000000?&logo=apple&logoColor=white" /></a>
     <br />
     <br />
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
@@ -53,18 +55,8 @@ target_link_libraries(my_target PUBLIC map_closures)
 ```
 
 ## Install the Python API and CLI
-1. First, install the necessary system dependencies
-    ```sh
-    sudo apt-get install --no-install-recommends -y build-essential cmake pybind11-dev libeigen3-dev libopencv-dev libtbb-dev
-    ```
-2. To get an odometry estimate in our Python CLI we rely on [KISS-ICP](https://github.com/PRBonn/kiss-icp), you can install it using
-    ```sh
-    pip install kiss-icp
-    ```
-3. Then run:
-    ```sh
-    make
-    ```
+`pip install map-closures`
+
 ### Usage
 <details>
 <summary>

cpp/3rdparty/opencv/opencv.cmake

@@ -25,6 +25,7 @@ set(BUILD_opencv_features2d ON CACHE BOOL "Build OpenCV features2d module")
 set(BUILD_opencv_imgproc ON CACHE BOOL "Build OpenCV imgproc module")
 
 set(BUILD_SHARED_LIBS OFF CACHE BOOL "Build shared libraries")
+set(BUILD_WITH_STATIC_CRT OFF CACHE BOOL "Build with statically linked CRT")
 set(BUILD_JAVA OFF CACHE BOOL "Build Java bindings")
 set(BUILD_PERF_TESTS OFF CACHE BOOL "Build performance tests")
 set(BUILD_PROTOBUF OFF CACHE BOOL "Build protobuf")
@@ -49,6 +50,7 @@ set(BUILD_opencv_python_tests OFF CACHE BOOL "Build OpenCV Python tests")
 set(BUILD_opencv_stitching OFF CACHE BOOL "Build OpenCV stitching module")
 set(BUILD_opencv_video OFF CACHE BOOL "Build OpenCV video module")
 set(BUILD_opencv_videoio OFF CACHE BOOL "Build OpenCV video IO module")
+set(CMAKE_BUILD_TYPE "Release" CACHE STRING "CMake build type")
 
 message(STATUS "Fetching OpenCV from Github")
 include(FetchContent)

cpp/CMakeLists.txt

@@ -22,7 +22,7 @@
 # SOFTWARE.
 
 cmake_minimum_required(VERSION 3.16...3.26)
-project(map_closures_cpp VERSION 1.0.0 LANGUAGES CXX)
+project(map_closures_cpp VERSION 1.0.1 LANGUAGES CXX)
 
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_TBB "Use system pre-installed TBB" ON)
@@ -33,6 +33,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 include(3rdparty/find_dependencies.cmake)
+include(cmake/CompilerOptions.cmake)
 
 add_subdirectory(map_closures)
 add_subdirectory(gt_closures)

cpp/cmake/CompilerOptions.cmake

@@ -0,0 +1,51 @@
+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+function(set_global_target_properties target)
+  target_compile_features(${target} PUBLIC cxx_std_17)
+  target_compile_definitions(${target} PUBLIC $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:_USE_MATH_DEFINES>)
+  target_compile_options(
+    ${target}
+    PRIVATE # MSVC
+            $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:/W4>
+            # Clang/AppleClang
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-fcolor-diagnostics>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wconversion>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang,AppleClang>:-Wno-sign-conversion>
+            # GNU
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-fdiagnostics-color=always>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-pedantic>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wcast-align>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wcast-qual>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wconversion>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wdisabled-optimization>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Woverloaded-virtual>)
+  set(INCLUDE_DIRS ${PROJECT_SOURCE_DIR})
+  get_filename_component(INCLUDE_DIRS ${INCLUDE_DIRS} PATH)
+  target_include_directories(
+    ${target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC $<BUILD_INTERFACE:${INCLUDE_DIRS}> $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+endfunction()

cpp/gt_closures/CMakeLists.txt

@@ -25,4 +25,4 @@ add_library(gt_closures STATIC)
 target_sources(gt_closures PRIVATE VoxelHashSet.cpp GTClosures.cpp)
 target_include_directories(gt_closures PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_link_libraries(gt_closures PUBLIC Eigen3::Eigen TBB::tbb tsl::robin_map)
-target_compile_features(gt_closures PUBLIC cxx_std_17)
+set_global_target_properties(gt_closures)

cpp/gt_closures/GTClosures.cpp

@@ -88,7 +88,7 @@ int GTClosures::GetSegments() {
         last_pose = poses_.at(idx);
         scan_occupancies_.erase(idx);
     });
-    return segments_.size() - n_skip_segments_;
+    return static_cast<int>(segments_.size()) - n_skip_segments_;
 }
 
 std::vector<Eigen::Vector2i> GTClosures::ComputeClosuresForQuerySegment(

cpp/gt_closures/VoxelHashSet.hpp

@@ -46,7 +46,7 @@ struct VoxelHashSet {
                    const Eigen::Vector3d &t);
     void AddVoxels(const VoxelHashSet &other_set);
     double ComputeOverlap(const VoxelHashSet &other_set);
-    int size() const { return set_.size(); }
+    std::size_t size() const { return set_.size(); }
     void clear() { set_.clear(); }
 
     double voxel_size_;

cpp/map_closures/AlignRansac2D.cpp

@@ -28,22 +28,24 @@
 #include <Eigen/LU>
 #include <Eigen/SVD>
 #include <algorithm>
+#include <numeric>
 #include <random>
 #include <utility>
 #include <vector>
 
 namespace {
 Eigen::Isometry2d KabschUmeyamaAlignment2D(
     const std::vector<map_closures::PointPair> &keypoint_pairs) {
-    auto mean = std::reduce(keypoint_pairs.cbegin(), keypoint_pairs.cend(),
-                            map_closures::PointPair(), [](auto lhs, const auto &rhs) {
-                                lhs.ref += rhs.ref;
-                                lhs.query += rhs.query;
-                                return lhs;
-                            });
-    mean.query /= keypoint_pairs.size();
-    mean.ref /= keypoint_pairs.size();
-    auto covariance_matrix = std::transform_reduce(
+    map_closures::PointPair mean =
+        std::reduce(keypoint_pairs.cbegin(), keypoint_pairs.cend(), map_closures::PointPair(),
+                    [](auto lhs, const auto &rhs) {
+                        lhs.ref += rhs.ref;
+                        lhs.query += rhs.query;
+                        return lhs;
+                    });
+    mean.query /= static_cast<double>(keypoint_pairs.size());
+    mean.ref /= static_cast<double>(keypoint_pairs.size());
+    Eigen::Matrix2d covariance_matrix = std::transform_reduce(
         keypoint_pairs.cbegin(), keypoint_pairs.cend(), Eigen::Matrix2d().setZero(),
         std::plus<Eigen::Matrix2d>(), [&](const auto &keypoint_pair) {
             return (keypoint_pair.ref - mean.ref) *
@@ -66,8 +68,8 @@ static constexpr double inliers_distance_threshold = 3.0;
 static constexpr double inliers_ratio = 0.3;
 static constexpr double probability_success = 0.999;
 static constexpr int min_points = 2;
-static constexpr int __RANSAC_TRIALS__ = std::ceil(
-    std::log(1.0 - probability_success) / std::log(1.0 - std::pow(inliers_ratio, min_points)));
+static int __RANSAC_TRIALS__ = std::ceil(std::log(1.0 - probability_success) /
+                                         std::log(1.0 - std::pow(inliers_ratio, min_points)));
 }  // namespace
 
 namespace map_closures {
@@ -106,12 +108,12 @@ std::pair<Eigen::Isometry2d, int> RansacAlignment2D(const std::vector<PointPair>
         }
     }
 
-    const int num_inliers = optimal_inlier_indices.size();
+    const std::size_t num_inliers = optimal_inlier_indices.size();
     std::vector<PointPair> inlier_keypoint_pairs(num_inliers);
     std::transform(optimal_inlier_indices.cbegin(), optimal_inlier_indices.cend(),
                    inlier_keypoint_pairs.begin(),
                    [&](const auto index) { return keypoint_pairs[index]; });
-    auto T = KabschUmeyamaAlignment2D(inlier_keypoint_pairs);
+    Eigen::Isometry2d T = KabschUmeyamaAlignment2D(inlier_keypoint_pairs);
     return {T, num_inliers};
 }
 }  // namespace map_closures

cpp/map_closures/CMakeLists.txt

@@ -25,4 +25,4 @@ add_library(map_closures STATIC)
 target_sources(map_closures PRIVATE DensityMap.cpp AlignRansac2D.cpp MapClosures.cpp)
 target_include_directories(map_closures PUBLIC ${hbst_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_link_libraries(map_closures PUBLIC Eigen3::Eigen TBB::tbb ${OpenCV_LIBS})
-target_compile_features(map_closures PUBLIC cxx_std_17)
+set_global_target_properties(map_closures)

cpp/map_closures/MapClosures.cpp

@@ -29,6 +29,7 @@
 #include <Eigen/Core>
 #include <algorithm>
 #include <cmath>
+#include <numeric>
 #include <opencv2/core.hpp>
 #include <utility>
 #include <vector>
@@ -108,7 +109,8 @@ ClosureCandidate MapClosures::ValidateClosure(const int reference_id, const int
         const auto &ref_map_lower_bound = density_maps_.at(reference_id).lower_bound;
         const auto &qry_map_lower_bound = density_maps_.at(query_id).lower_bound;
         auto to_world_point = [](const auto &p, const auto &offset) {
-            return Eigen::Vector2d(p.y + offset.x(), p.x + offset.y());
+            return Eigen::Vector2d(p.y + static_cast<float>(offset.x()),
+                                   p.x + static_cast<float>(offset.y()));
         };
         std::vector<PointPair> keypoint_pairs(num_matches);
         std::transform(

cpp/map_closures/MapClosures.hpp

@@ -41,8 +41,8 @@ using Tree = srrg_hbst::BinaryTree<Node>;
 
 namespace map_closures {
 struct Config {
-    float density_map_resolution = 0.5;
-    float density_threshold = 0.05;
+    float density_map_resolution = 0.5f;
+    float density_threshold = 0.05f;
     int hamming_distance_threshold = 50;
 };
 

python/CMakeLists.txt

@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(map_closure_pybind VERSION 1.0.0 LANGUAGES CXX)
+project(map_closure_pybind VERSION 1.0.1 LANGUAGES CXX)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)

python/map_closures/__init__.py

@@ -21,4 +21,4 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-__version__ = "1.0.0"
+__version__ = "1.0.1"

python/pyproject.toml

@@ -4,11 +4,11 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "map_closures"
-version = "1.0.0"
+version = "1.0.1"
 description = "Effectively Detecting Loop Closures using Point Cloud Density Maps"
 readme = "README.md"
 authors = [{ name = "Saurabh Gupta" }, { name = "Tiziano Guadagnino" }]
-requires-python = ">=3.7"
+requires-python = ">=3.8"
 keywords = ["Loop Closures", "Localization", "SLAM", "LiDAR"]
 dependencies = [
     "kiss-icp>=1.0.0",
@@ -63,3 +63,7 @@ max-line-length = "100"
 [tool.cibuildwheel]
 archs = ["auto64"]
 skip = ["*-musllinux*", "pp*", "cp36-*"]
+
+[tool.cibuildwheel.macos]
+environment = "MACOSX_DEPLOYMENT_TARGET=11.00"
+archs = ["auto64", "arm64"]