Merge branch 'PRBonn:main' into main

fratopa · May 8, 2023 · fedd940 · fedd940
2 parents ccae476 + 1b05291
commit fedd940
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Showing 15 changed files with 95 additions and 44 deletions.
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -0,0 +1,48 @@
+stages:
+  - format
+  - build
+cache:
+  paths:
+    - .cache/pip
+
+#----- format stage --------------------------------------------------------------------------------
+black:
+  image: python:3.8
+  stage: format
+  before_script:
+    - pip install black
+  script:
+    - black --line-length 100 --check $CI_PROJECT_DIR
+
+clang-format:
+  image: ubuntu:22.04
+  stage: format
+  before_script:
+    - apt-get update && apt-get install --no-install-recommends -y clang-format
+  script:
+    - clang-format -Werror --dry-run $(find . -regextype posix-extended -regex ".*\.(cpp|hpp|h)")
+
+#----- build stage ---------------------------------------------------------------------------------
+pip_package:
+  image: python:3.8
+  stage: build
+  script:
+    - VERBOSE=1 pip install --verbose ./python/
+    - kiss_icp_pipeline --version
+
+ros1_noetic:
+  image: osrf/ros:noetic-desktop-full
+  stage: build
+  before_script:
+    - rm -rf ~/catkin_ws/
+    - mkdir -p ~/catkin_ws/
+    - cp -r ${CI_PROJECT_DIR} ~/catkin_ws/src
+  script:
+    - cd ~/catkin_ws/
+    - catkin_make
+
+ros2_humble:
+  image: osrf/ros:humble-desktop
+  stage: build
+  script:
+    - colcon build --event-handlers console_direct+
diff --git a/README.md b/README.md
@@ -24,7 +24,7 @@
   <br />
   <br />
 
-[KISS-ICP](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf) is a LiDAR Odometry pipeline that **just works** on most of the cases withouth tunning any parameter.
+[KISS-ICP](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf) is a LiDAR Odometry pipeline that **just works** on most of the cases without tunning any parameter.
 
   <p align="center">
     <a href="https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4"><img alt="KISS-ICP Demo" src="https://user-images.githubusercontent.com/21349875/211829074-474bec08-0129-4e34-85e7-62265e44a7de.png"></a>
@@ -94,7 +94,7 @@ If you use this library for any academic work, please cite our original [paper](
 
 ## Contributing
 
-We envision KISS-ICP as a comunity-driven project, we love to see how the project is growing thanks to the contributions from the comunity. We would love to see your face in the list below, just open a Pull Request!
+We envision KISS-ICP as a community-driven project, we love to see how the project is growing thanks to the contributions from the community. We would love to see your face in the list below, just open a Pull Request!
 
 <a href="https://github.com/PRBonn/kiss-icp/graphs/contributors">
   <img src="https://contrib.rocks/image?repo=PRBonn/kiss-icp" />

diff --git a/cpp/kiss_icp/3rdparty/eigen/eigen.cmake b/cpp/kiss_icp/3rdparty/eigen/eigen.cmake
@@ -25,14 +25,17 @@
 # release a new version that is not 3.4. That version does not include this necessary changes:
 # - https://gitlab.com/libeigen/eigen/-/merge_requests/893/diffs
 
-cmake_minimum_required(VERSION 3.25)
-include(FetchContent)
-FetchContent_Declare(Eigen SYSTEM URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
-
 set(EIGEN_BUILD_DOC OFF CACHE BOOL "Don't build Eigen docs")
 set(EIGEN_BUILD_TESTING OFF CACHE BOOL "Don't build Eigen tests")
 set(EIGEN_BUILD_PKGCONFIG OFF CACHE BOOL "Don't build Eigen pkg-config")
 set(EIGEN_BUILD_BLAS OFF CACHE BOOL "Don't build blas module")
 set(EIGEN_BUILD_LAPACK OFF CACHE BOOL "Don't build lapack module")
 
-FetchContent_MakeAvailable(Eigen)
+include(FetchContent)
+FetchContent_Declare(eigen SYSTEM URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
+FetchContent_MakeAvailable(eigen)
+
+if(${CMAKE_VERSION} VERSION_LESS 3.25)
+  get_target_property(eigen_include_dirs eigen INTERFACE_INCLUDE_DIRECTORIES)
+  set_target_properties(eigen PROPERTIES INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${eigen_include_dirs}")
+endif()
diff --git a/cpp/kiss_icp/3rdparty/sophus/sophus.cmake b/cpp/kiss_icp/3rdparty/sophus/sophus.cmake
@@ -19,13 +19,12 @@
 # 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.
-# TODO: after https://github.com/strasdat/Sophus/pull/502 gets merged go back to mainstream
-cmake_minimum_required(VERSION 3.25)
 include(FetchContent)
-FetchContent_Declare(Sophus SYSTEM URL https://github.com/nachovizzo/Sophus/archive/refs/tags/1.22.11.tar.gz)
 
 set(SOPHUS_USE_BASIC_LOGGING ON CACHE BOOL "Don't use fmt for Sophus libraru")
 set(BUILD_SOPHUS_TESTS OFF CACHE BOOL "Don't build Sophus tests")
 set(BUILD_SOPHUS_EXAMPLES OFF CACHE BOOL "Don't build Sophus Examples")
 
-FetchContent_MakeAvailable(Sophus)
+# TODO: after https://github.com/strasdat/Sophus/pull/502 gets merged go back to mainstream
+FetchContent_Declare(sophus SYSTEM URL https://github.com/nachovizzo/Sophus/archive/refs/tags/1.22.11.tar.gz)
+FetchContent_MakeAvailable(sophus)
diff --git a/cpp/kiss_icp/3rdparty/tbb/tbb.cmake b/cpp/kiss_icp/3rdparty/tbb/tbb.cmake
@@ -20,29 +20,18 @@
 # 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.
-include(ExternalProject)
-include(GNUInstallDirs)
-find_package(Threads)
+# option(BUILD_SHARED_LIBS ON)
+option(BUILD_SHARED_LIBS OFF)
+option(TBBMALLOC_BUILD OFF)
+option(TBB_EXAMPLES OFF)
+option(TBB_STRICT OFF)
+option(TBB_TEST OFF)
 
-ExternalProject_Add(
-  external_tbb
-  PREFIX tbb
-  URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.8.0.tar.gz
-  URL_HASH SHA256=eee380323bb7ce864355ed9431f85c43955faaae9e9bce35c62b372d7ffd9f8b
-  UPDATE_COMMAND ""
-  CMAKE_ARGS # CMake flags:
-             -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-             -DCMAKE_BUILD_TYPE=Release
-             # custom flags:
-             -DBUILD_SHARED_LIBS=OFF
-             -DTBB_EXAMPLES=OFF
-             -DTBB_STRICT=OFF
-             -DTBB_TEST=OFF)
+include(FetchContent)
+FetchContent_Declare(tbb SYSTEM URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.8.0.tar.gz)
+FetchContent_MakeAvailable(tbb)
 
-ExternalProject_Get_Property(external_tbb INSTALL_DIR)
-add_library(TBBHelper INTERFACE)
-add_dependencies(TBBHelper external_tbb)
-target_include_directories(TBBHelper SYSTEM INTERFACE ${INSTALL_DIR}/${CMAKE_INSTALL_INCLUDEDIR})
-target_link_directories(TBBHelper INTERFACE ${INSTALL_DIR}/${CMAKE_INSTALL_LIBDIR})
-target_link_libraries(TBBHelper INTERFACE tbb Threads::Threads)
-add_library(TBB::tbb ALIAS TBBHelper)
+if(${CMAKE_VERSION} VERSION_LESS 3.25)
+  get_target_property(tbb_include_dirs tbb INTERFACE_INCLUDE_DIRECTORIES)
+  set_target_properties(tbb PROPERTIES INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${tbb_include_dirs}")
+endif()
diff --git a/cpp/kiss_icp/3rdparty/tsl_robin/tsl_robin.cmake b/cpp/kiss_icp/3rdparty/tsl_robin/tsl_robin.cmake
@@ -20,7 +20,6 @@
 # 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.
-cmake_minimum_required(VERSION 3.25)
 include(FetchContent)
 FetchContent_Declare(tessil SYSTEM URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.0.1.tar.gz)
 FetchContent_MakeAvailable(tessil)
diff --git a/cpp/kiss_icp/CMakeLists.txt b/cpp/kiss_icp/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(kiss_icp_cpp VERSION 0.2.8 LANGUAGES CXX)
+project(kiss_icp_cpp VERSION 0.2.9 LANGUAGES CXX)
 
 # Setup build options
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)

diff --git a/python/CMakeLists.txt b/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(kiss_icp_pybind VERSION 0.2.8 LANGUAGES CXX)
+project(kiss_icp_pybind VERSION 0.2.9 LANGUAGES CXX)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)

diff --git a/python/kiss_icp/__init__.py b/python/kiss_icp/__init__.py
@@ -20,4 +20,4 @@
 # 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.
-__version__ = "0.2.8"
+__version__ = "0.2.9"
diff --git a/python/kiss_icp/pybind/CMakeLists.txt b/python/kiss_icp/pybind/CMakeLists.txt
@@ -48,4 +48,6 @@ endif()
 
 pybind11_add_module(kiss_icp_pybind MODULE kiss_icp_pybind.cpp)
 target_link_libraries(kiss_icp_pybind PRIVATE kiss_icp::core kiss_icp::metrics)
-install(TARGETS kiss_icp_pybind DESTINATION .)
+install(TARGETS kiss_icp_pybind DESTINATION . COMPONENT python_bindings)
+add_custom_target(install_python_bindings ${CMAKE_COMMAND} -DCMAKE_INSTALL_COMPONENT=python_bindings -P
+                                          "${PROJECT_BINARY_DIR}/cmake_install.cmake" DEPENDS kiss_icp_pybind)
diff --git a/python/kiss_icp/tools/cmd.py b/python/kiss_icp/tools/cmd.py
@@ -62,10 +62,20 @@ def guess_dataloader(data: Path, default_dataloader: str):
 
 def version_callback(value: bool):
     if value:
+        try:
+            # Check that the python bindings are properly built and can be loaded at runtime
+            from kiss_icp.pybind import kiss_icp_pybind
+        except ImportError as e:
+            print(80 * "*")
+            print(f"[ERRROR] Python bindings not properly built! Please open a issue on github")
+            print(f"[ERRROR] '{e}'")
+            print(80 * "*")
+            raise typer.Exit(1)
+
         import kiss_icp
 
         print(f"KISS-ICP Version: {kiss_icp.__version__}")
-        raise typer.Exit()
+        raise typer.Exit(0)
 
 
 def name_callback(value: str):

diff --git a/python/setup.cfg b/python/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = kiss_icp
-version = 0.2.8
+version = 0.2.9
 author = Ignacio Vizzo
 author_email = [email protected]
 description = Simple yet effective 3D LiDAR-Odometry registration pipeline

diff --git a/python/setup.py b/python/setup.py
@@ -60,6 +60,7 @@ def cmd_exists(cmd):
     setup(
         packages=find_packages(),
         cmake_install_dir="kiss_icp/pybind/",
+        cmake_install_target="install_python_bindings",
         entry_points={"console_scripts": ["kiss_icp_pipeline=kiss_icp.tools.cmd:run"]},
         install_requires=[
             "natsort",

diff --git a/ros/CMakeLists.txt b/ros/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(kiss_icp VERSION 0.2.8 LANGUAGES CXX)
+project(kiss_icp VERSION 0.2.9 LANGUAGES CXX)
 
 set(ignore ${CATKIN_INSTALL_INTO_PREFIX_ROOT})
 set(CMAKE_BUILD_TYPE Release)

diff --git a/ros/package.xml b/ros/package.xml
@@ -25,7 +25,7 @@
 -->
 <package format="3">
   <name>kiss_icp</name>
-  <version>0.2.8</version>
+  <version>0.2.9</version>
   <description>KISS-ICP ROS Wrappers</description>
   <maintainer email="[email protected]">ivizzo</maintainer>
   <license>MIT</license>