Bump to version 0.1.6

.gitlab-ci.yml

@@ -33,28 +33,22 @@ format:
 ubuntu:cpp:build:
   stage: build
   script:
-    - mkdir build && cd build && cmake ..
-    - make -j$(nproc --all) all
-  artifacts:
-    paths:
-      - build/
+    - mkdir build && cd build && cmake .. && make -j$(nproc --all) all install
+    - make uninstall
 
-ubuntu:cpp:install:
+ubuntu:cpp:example:
   stage: build
   needs: ["ubuntu:cpp:build"]
   script:
-    - cd build
-    - make install
+    - mkdir build && cd build && cmake -DBUILD_CXX_EXAMPLE=ON .. && make -j$(nproc --all) install
     - make uninstall
 
-ubuntu:cpp:example:
+ubuntu:cpp:standalone_example:
   stage: build
-  needs: ["ubuntu:cpp:install"]
-  script:
+  needs: ["ubuntu:cpp:build"]
   script:
-    - mkdir build && cd build && cmake -DBUILD_CXX_EXAMPLE=ON .. && make install && cd ..
-    - cd examples/cpp/ && mkdir build && cd build && cmake ..
-    - make -j$(nproc --all) all
+    - mkdir build && cd build && cmake .. && make -j$(nproc --all) install && cd ..
+    - cd examples/cpp/ && mkdir build && cd build && cmake .. && make -j$(nproc --all)
 
 #----- ubuntu python jobs ---------------------------------------------------------------------------
 ubuntu:py:wheel:
@@ -103,9 +97,9 @@ manylinux:wheels:
   image: docker:19.03.12
   needs: ["ubuntu:py:wheel"]
   rules:
+    - if: $CI_COMMIT_TAG
     - if: $CI_MERGE_REQUEST_IID
     - if: $CI_PIPELINE_SOURCE == "schedule"
-    - if: "$CI_COMMIT_TAG != null && $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH"
   variables:
     DOCKER_IMAGE: "quay.io/pypa/manylinux2014_x86_64"
     PLAT: "manylinux2014_x86_64"
@@ -133,9 +127,9 @@ manylinux:test:
   needs: ["manylinux:wheels"]
   image: docker:19.03.12
   rules:
+    - if: $CI_COMMIT_TAG
     - if: $CI_MERGE_REQUEST_IID
     - if: $CI_PIPELINE_SOURCE == "schedule"
-    - if: "$CI_COMMIT_TAG != null && $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH"
   variables:
     DOCKER_IMAGE: "quay.io/pypa/manylinux2014_x86_64"
     PLAT: "manylinux2014_x86_64"
@@ -153,12 +147,12 @@ testpypi:
   stage: deploy
   needs: ["manylinux:test"]
   rules:
-    - if: "$CI_COMMIT_TAG != null && $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH"
+    - if: $CI_COMMIT_TAG
   variables:
     TWINE_PASSWORD: "${TESTPYPI_ACCESS_TOKEN}"
     TWINE_USERNAME: "__token__"
   script:
-    - twine upload --skip-existing --repository testpypi wheelhouse/*.whl
+    - twine upload --verbose --skip-existing --repository testpypi wheelhouse/*.whl
   artifacts:
     paths:
       - wheelhouse/
@@ -167,9 +161,9 @@ pypi:
   stage: deploy
   needs: ["testpypi"]
   rules:
-    - if: "$CI_COMMIT_TAG != null && $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH"
+    - if: $CI_COMMIT_TAG
   variables:
     TWINE_PASSWORD: "${PYPI_ACCESS_TOKEN}"
     TWINE_USERNAME: "__token__"
   script:
-    - twine upload --skip-existing --repository pypi wheelhouse/*.whl
+    - twine upload --verbose --skip-existing --repository pypi wheelhouse/*.whl

3rdparty/find_dependencies.cmake

@@ -17,12 +17,15 @@ if(NOT USE_SYSTEM_EIGEN3 OR NOT EIGEN3_FOUND)
   include(${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake)
 endif()
 
-if(USE_SYSTEM_PYBIND11)
-  find_package(pybind11 QUIET)
-endif()
-if(NOT USE_SYSTEM_PYBIND11 OR NOT pybind11_FOUND)
-  set(USE_SYSTEM_PYBIND11 OFF)
-  include(${CMAKE_CURRENT_LIST_DIR}/pybind11/pybind11.cmake)
+if(BUILD_PYTHON_BINDINGS)
+  if(USE_SYSTEM_PYBIND11)
+    find_package(pybind11 QUIET)
+  endif()
+  if(NOT USE_SYSTEM_PYBIND11 OR NOT pybind11_FOUND)
+    message(STATUS "ASDASDAS")
+    set(USE_SYSTEM_PYBIND11 OFF)
+    include(${CMAKE_CURRENT_LIST_DIR}/pybind11/pybind11.cmake)
+  endif()
 endif()
 
 if(USE_SYSTEM_OPENVDB)

3rdparty/pybind11/pybind11.cmake

@@ -2,7 +2,9 @@ include(FetchContent)
 FetchContent_Declare(
   ext_pybind11
   PREFIX pybind11
-  URL https://github.com/pybind/pybind11/archive/refs/tags/v2.6.2.tar.gz
-  URL_HASH SHA256=8ff2fff22df038f5cd02cea8af56622bc67f5b64534f1b83b9f133b8366acff2)
+  #TODO: Update to a release when this gets merged: https://github.com/pybind/pybind11/pull/3743
+  GIT_REPOSITORY https://github.com/pybind/pybind11
+  GIT_TAG master
+  GIT_SHALLOW ON)
 
 FetchContent_MakeAvailable(ext_pybind11)

CMakeLists.txt

@@ -1,16 +1,16 @@
 cmake_minimum_required(VERSION 3.10)
-project(VDBFusion VERSION 0.1.5 LANGUAGES CXX)
+project(VDBFusion VERSION 0.1.6 LANGUAGES CXX)
 
 # Setup build options
 option(USE_CCACHE "Build using Ccache if found on the path" ON)
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" ON)
 option(USE_SYSTEM_OPENVDB "Use system pre-installed OpenVDB" ON)
 option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" ON)
-option(PYOPENVDB_SUPPORT "Add suuport for pyopenvdb, this depends on boost::python" OFF)
 option(SILENCE_WARNINGS "To build manylinux packages only, disable on the global scope" OFF)
 option(BUILD_CXX_EXAMPLE "Build C++ examples" OFF)
+option(BUILD_PYTHON_BINDINGS "Build the python module" OFF)
 
-mark_as_advanced(USE_CCACHE USE_SYSTEM_OPENVDB PYOPENVDB_SUPPORT SILENCE_WARNINGS)
+mark_as_advanced(USE_CCACHE USE_SYSTEM_OPENVDB SILENCE_WARNINGS BUILD_PYTHON_BINDINGS)
 
 if(SILENCE_WARNINGS)
   message(WARNING "Disable all warnings for all targets in the build system, only for the CI/CD")

Makefile

@@ -1,10 +1,13 @@
-.PHONY: docker
+.PHONY: install docker
 install:
 	pip3 -v install . && cp build/*/compile_commands.json build/
 
 uninstall:
 	pip3 -v uninstall vdbfusion
 
+dev:
+	pip3 -v install -e . && cp build/*/compile_commands.json build/
+
 test:
 	pytest .
 

ci/test-wheels.sh

@@ -7,5 +7,5 @@ for PYBIN in /opt/python/*/bin/; do
     "${PYBIN}/pip" install -r /io/requirements.txt
     "${PYBIN}/pip" install -r /io/dev-requirements.txt
     "${PYBIN}/pip" install --no-index -f /io/wheelhouse vdbfusion
-    (cd "$HOME"; "${PYBIN}/pytest" /io/)
+    (cd "$HOME"; "${PYBIN}/pytest" --capture=sys /io/)
 done

docker/builder/Dockerfile

@@ -52,6 +52,7 @@ RUN git clone --depth 1 https://github.com/nachovizzo/openvdb.git -b nacho/vdbfu
     && cmake \
     -DOPENVDB_BUILD_PYTHON_MODULE=ON \
     -DUSE_NUMPY=ON \
+    -DPYOPENVDB_INSTALL_DIRECTORY="/usr/local/lib/python3.8/dist-packages" \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DUSE_ZLIB=OFF \
     ..\

examples/python/Makefile

@@ -0,0 +1,2 @@
+vdbfusion:
+	@make -C ../../

examples/python/config/kitti.yaml

@@ -5,11 +5,11 @@ space_carving: False
 out_dir: "results/"
 
 # Reconstruction
-fill_holes: True
+fill_holes: False
 min_weight: 5.0
 
 # Kitti
 apply_pose: True
-min_range: 2.0
-max_range: 70.0
+min_range: 2.5
+max_range: 120.0
 correct_scan: True

examples/python/vdbfusion_pipeline.py

@@ -85,7 +85,7 @@ def _get_o3d_mesh(tsdf_volume, cfg):
 
     def _print_metrics(self):
         # If PYOPENVDB_SUPPORT has not been enabled then we can't report any metrics
-        if not hasattr(self._tsdf_volume, "tsdf"):
+        if not self._tsdf_volume.pyopenvdb_support_enabled:
             print("No metrics available, please compile with PYOPENVDB_SUPPORT")
             return
 

setup.cfg

@@ -3,7 +3,7 @@ name=vdbfusion
 author = Ignacio Martin Vizzo (aka Nacho) and Cyrill Stachniss
 author_email=ignaciovizzo@gmail.com
 license_files = LICENSE.txt
-version=0.1.5
+version=0.1.6
 description=3D Volumetric Surface Reconstruction using the VDB data structure
 long_description=file:README.md,
 long_description_content_type=text/markdown

setup.py

@@ -34,6 +34,7 @@ def build_extension(self, ext):
         # EXAMPLE_VERSION_INFO shows you how to pass a value into the C++ code
         # from Python.
         cmake_args = [
+            f"-DBUILD_PYTHON_BINDINGS=ON",
             f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}",
             f"-DPYTHON_EXECUTABLE={sys.executable}",
             f"-DCMAKE_BUILD_TYPE={cfg}",  # not used on MSVC, but no harm

src/vdbfusion/CMakeLists.txt

@@ -1,2 +1,4 @@
-add_subdirectory(pybind)
 add_subdirectory(vdbfusion)
+if(BUILD_PYTHON_BINDINGS)
+  add_subdirectory(pybind)
+endif()

src/vdbfusion/__init__.py

@@ -1,2 +1,2 @@
-__version__ = "0.1.5"
+__version__ = "0.1.6"
 from .pybind.vdb_volume import VDBVolume

src/vdbfusion/pybind/CMakeLists.txt

@@ -1,8 +1,16 @@
 pybind11_add_module(vdbfusion_pybind vdbfusion_pybind.cpp)
 target_compile_options(vdbfusion_pybind PRIVATE -Werror -Wall -Wextra)
 target_link_libraries(vdbfusion_pybind PRIVATE VDBFusion::vdbfusion)
+
+# PYOPENVDB_SUPPORT is defined only by the existence of the pyopenvdb library.
+find_package(Python COMPONENTS Interpreter)
+execute_process(COMMAND
+                ${PYTHON_EXECUTABLE} "-c" "import pyopenvdb; print(True)"
+                OUTPUT_VARIABLE PYOPENVDB_SUPPORT
+                ERROR_QUIET)
 if(PYOPENVDB_SUPPORT)
-  find_package(Boost COMPONENTS python REQUIRED)
+  find_package(Boost COMPONENTS python Required)
   target_compile_definitions(vdbfusion_pybind PRIVATE "$<$<COMPILE_LANGUAGE:CXX>:PYOPENVDB_SUPPORT>")
   target_link_libraries(vdbfusion_pybind PRIVATE Boost::python)
+  message(STATUS "PYOPENVDB_SUPPORT enabled")
 endif()