Add CI

.github/workflows/python.yml

@@ -0,0 +1,27 @@
+name: Python API
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  python_package:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-20.04]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Python3
+        uses: actions/setup-python@v3
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Build pip package
+        run: |
+          python -m pip install --verbose .
+      - name: Test installation
+        run: |
+          mapmos_pipeline --help

Makefile

@@ -1,9 +1,14 @@
 install:
 	@pip install -v .
 
+install-all:
+	@pip install -v ".[all]"
+
 uninstall:
 	@pip -v uninstall mapmos
 
-editable:
+build-system:
 	@pip install scikit-build-core pyproject_metadata pathspec pybind11 ninja cmake
+
+editable: build-system
 	@pip install --no-build-isolation -ve .

README.md

@@ -30,7 +30,6 @@
 First, make sure the [MinkowskiEngine](https://github.com/NVIDIA/MinkowskiEngine) is installed on your system, see [here](https://github.com/NVIDIA/MinkowskiEngine#installation) for more details.
 
 Next, clone our repository
-
 ```bash
 git clone git@github.com:PRBonn/MapMOS && cd MapMOS
 ```
@@ -40,7 +39,11 @@ and install with
 make install
 ```
 
-**or** in editable mode:
+**or**
+```bash
+make install-all
+```
+if you want to install the project with all optional dependencies (needed for the visualizer). In case you want to edit the Python code, install in editable mode:
 ```bash
 make editable
 ```

pyproject.toml

@@ -10,7 +10,6 @@ license_files = "LICENSE"
 dependencies = [
     "kiss-icp>=0.2.10",
     "diskcache>=5.3.0",
-    "open3d>=0.13",
     "pytorch_lightning>=1.6.4",
 ]
 
@@ -20,6 +19,7 @@ all = [
     "ouster-sdk>=0.7.1",
     "pyntcloud",
     "trimesh",
+    "open3d>=0.13",
 ]
 
 [project.scripts]

scripts/cache_to_ply.py

@@ -23,13 +23,13 @@
 
 import os
 import typer
+import importlib
 
 import numpy as np
 import torch
 from typing import List, Optional
 from torch.utils.data import DataLoader
 from tqdm import tqdm
-import open3d as o3d
 from pathlib import Path
 
 from mapmos.datasets.mapmos_dataset import MapMOSDataset, collate_fn
@@ -68,6 +68,12 @@ def cache_to_ply(
         help="[Optional] Path to the configuration file",
     ),
 ):
+    try:
+        o3d = importlib.import_module("open3d")
+    except ModuleNotFoundError as err:
+        print(f'open3d is not installed on your system, run "pip install open3d"')
+        exit(1)
+
     for seq in sequence:
         # Run
         cfg = load_config(config)

src/mapmos/pipeline.py

@@ -37,7 +37,7 @@
 from mapmos.metrics import get_confusion_matrix
 from mapmos.utils.visualizer import MapMOSVisualizer, StubVisualizer
 from mapmos.utils.pipeline_results import MOSPipelineResults
-from mapmos.utils.save import save_to_ply, save_to_kitti
+from mapmos.utils.save import PlyWriter, KITTIWriter, StubWriter
 from mapmos.config import load_config
 
 
@@ -99,8 +99,8 @@ def __init__(
         self.visualize = visualize
         self.visualizer = MapMOSVisualizer() if visualize else StubVisualizer()
 
-        self.save_ply = save_ply
-        self.save_kitti = save_kitti
+        self.ply_writer = PlyWriter() if save_ply else StubWriter()
+        self.kitti_writer = KITTIWriter() if save_kitti else StubWriter()
 
     # Public interface  ------
     def run(self):
@@ -203,19 +203,16 @@ def process_final_prediction(self, query_index, query_points, query_labels):
             torch.tensor(belief_labels_query, dtype=torch.int32),
             torch.tensor(query_labels, dtype=torch.int32),
         )
-        if self.save_ply:
-            save_to_ply(
-                query_points,
-                belief_labels_query,
-                query_labels,
-                filename=f"{self.results_dir}/ply/{query_index:06}.ply",
-            )
-
-        if self.save_kitti:
-            save_to_kitti(
-                belief_labels_query,
-                filename=f"{self.results_dir}/bin/sequences/{self.dataset_sequence}/predictions/{query_index:06}.label",
-            )
+        self.ply_writer.write(
+            query_points,
+            belief_labels_query,
+            query_labels,
+            filename=f"{self.results_dir}/ply/{query_index:06}.ply",
+        )
+        self.kitti_writer.write(
+            belief_labels_query,
+            filename=f"{self.results_dir}/bin/sequences/{self.dataset_sequence}/predictions/{query_index:06}.label",
+        )
 
     def _next(self, idx):
         dataframe = self._dataset[idx]

src/mapmos/utils/save.py

@@ -20,38 +20,58 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import open3d as o3d
 import numpy as np
 import os
+import importlib
 from pathlib import Path
 
 
-def save_to_ply(
-    scan_points: np.ndarray, pred_labels: np.ndarray, gt_labels: np.ndarray, filename: str
-):
-    os.makedirs(Path(filename).parent, exist_ok=True)
-    pcd_current_scan = o3d.geometry.PointCloud(
-        o3d.utility.Vector3dVector(scan_points)
-    ).paint_uniform_color([0, 0, 0])
+class StubWriter:
+    def __init__(self) -> None:
+        pass
 
-    scan_colors = np.array(pcd_current_scan.colors)
+    def write(self, *_, **__):
+        pass
 
-    tp = (pred_labels == 1) & (gt_labels == 1)
-    fp = (pred_labels == 1) & (gt_labels != 1)
-    fn = (pred_labels != 1) & (gt_labels == 1)
 
-    scan_colors[tp] = [0, 1, 0]
-    scan_colors[fp] = [1, 0, 0]
-    scan_colors[fn] = [0, 0, 1]
+class PlyWriter:
+    def __init__(self) -> None:
+        try:
+            self.o3d = importlib.import_module("open3d")
+        except ModuleNotFoundError as err:
+            print(f'open3d is not installed on your system, run "pip install open3d"')
+            exit(1)
 
-    pcd_current_scan.colors = o3d.utility.Vector3dVector(scan_colors)
-    o3d.io.write_point_cloud(filename, pcd_current_scan)
+    def write(
+        self, scan_points: np.ndarray, pred_labels: np.ndarray, gt_labels: np.ndarray, filename: str
+    ):
+        os.makedirs(Path(filename).parent, exist_ok=True)
+        pcd_current_scan = self.o3d.geometry.PointCloud(
+            self.o3d.utility.Vector3dVector(scan_points)
+        ).paint_uniform_color([0, 0, 0])
 
+        scan_colors = np.array(pcd_current_scan.colors)
 
-def save_to_kitti(pred_labels: np.ndarray, filename: str):
-    os.makedirs(Path(filename).parent, exist_ok=True)
-    kitti_labels = np.copy(pred_labels)
-    kitti_labels[pred_labels == 0] = 9
-    kitti_labels[pred_labels == 1] = 251
-    kitti_labels = kitti_labels.reshape(-1).astype(np.int32)
-    kitti_labels.tofile(filename)
+        tp = (pred_labels == 1) & (gt_labels == 1)
+        fp = (pred_labels == 1) & (gt_labels != 1)
+        fn = (pred_labels != 1) & (gt_labels == 1)
+
+        scan_colors[tp] = [0, 1, 0]
+        scan_colors[fp] = [1, 0, 0]
+        scan_colors[fn] = [0, 0, 1]
+
+        pcd_current_scan.colors = self.o3d.utility.Vector3dVector(scan_colors)
+        self.o3d.io.write_point_cloud(filename, pcd_current_scan)
+
+
+class KITTIWriter:
+    def __init__(self) -> None:
+        pass
+
+    def write(self, pred_labels: np.ndarray, filename: str):
+        os.makedirs(Path(filename).parent, exist_ok=True)
+        kitti_labels = np.copy(pred_labels)
+        kitti_labels[pred_labels == 0] = 9
+        kitti_labels[pred_labels == 1] = 251
+        kitti_labels = kitti_labels.reshape(-1).astype(np.int32)
+        kitti_labels.tofile(filename)