Merge pull request #37 from IvDmNe/master

Separate building and python install

Author: seungjae24

CMakeLists.txt

@@ -17,26 +17,38 @@ else()
   list(PREPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 endif()
 
-include(FetchContent)
-include(pybind11)
 
-find_package(Eigen3 REQUIRED QUIET)
-find_package(Open3D HINTS ${CMAKE_INSTALL_PREFIX}/lib/CMake)
 list(APPEND Open3D_LIBRARIES dl)
 
-message(STATUS "Found Open3D ${Open3D_VERSION}")
-link_directories(${Open3D_LIBRARY_DIRS})
-
 add_subdirectory(patchworkpp)
-add_subdirectory(python_wrapper)
 
-add_executable(demo_visualize examples/cpp/demo_visualize.cpp)
-target_link_libraries(demo_visualize PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
-target_include_directories(demo_visualize PUBLIC ${Open3D_INCLUDE_DIRS})
-set_target_properties(demo_visualize PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+if (INCLUDE_PYTHON_WRAPPER)
+
+  message(STATUS "Building Python wrapper")
+  find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
+  include(FetchContent)
+  include(pybind11)
+  add_subdirectory(python_wrapper)
+  
+endif()
+
+if (INCLUDE_EXAMPLES)
 
-add_executable(demo_sequential examples/cpp/demo_sequential.cpp)
-target_link_libraries(demo_sequential PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
-target_include_directories(demo_sequential PUBLIC ${Open3D_INCLUDE_DIRS})
-set_target_properties(demo_sequential PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+  message(STATUS "Building examples for c++")
+  find_package(Open3D REQUIRED HINTS ${CMAKE_INSTALL_PREFIX}/lib/CMake)
 
+  list(APPEND Open3D_LIBRARIES dl)
+  link_directories(${Open3D_LIBRARY_DIRS})
+  message(STATUS "Found Open3D ${Open3D_VERSION}")
+
+  add_executable(demo_visualize examples/cpp/demo_visualize.cpp)
+  target_link_libraries(demo_visualize PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
+  target_include_directories(demo_visualize PUBLIC ${Open3D_INCLUDE_DIRS})
+  set_target_properties(demo_visualize PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+
+  add_executable(demo_sequential examples/cpp/demo_sequential.cpp)
+  target_link_libraries(demo_sequential PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
+  target_include_directories(demo_sequential PUBLIC ${Open3D_INCLUDE_DIRS})
+  set_target_properties(demo_sequential PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+
+endif()

examples/python/demo_sequential.py

@@ -1,19 +1,11 @@
 import os
-import sys
 import open3d as o3d
 import numpy as np
-# import pypatchworkpp
+import pypatchworkpp
 
 cur_dir = os.path.dirname(os.path.abspath(__file__))
 data_dir = os.path.join(cur_dir, '../../data/')
 
-try:
-    patchwork_module_path = os.path.join(cur_dir, "../../build/python_wrapper")
-    sys.path.insert(0, patchwork_module_path)
-    import pypatchworkpp
-except ImportError:
-    print("Cannot find pypatchworkpp!")
-    exit(1)
 
 def read_bin(bin_path):
     scan = np.fromfile(bin_path, dtype=np.float32)

examples/python/demo_visualize.py

@@ -2,18 +2,11 @@
 import sys
 import open3d as o3d
 import numpy as np
-# import pypatchworkpp
+import pypatchworkpp
 
 cur_dir = os.path.dirname(os.path.abspath(__file__))
 input_cloud_filepath = os.path.join(cur_dir, '../../data/000000.bin')
 
-try:
-    patchwork_module_path = os.path.join(cur_dir, "../../build/python_wrapper")
-    sys.path.insert(0, patchwork_module_path)
-    import pypatchworkpp
-except ImportError:
-    print("Cannot find pypatchworkpp!")
-    exit(1)
 
 def read_bin(bin_path):
     scan = np.fromfile(bin_path, dtype=np.float32)

install_open3d.bash

@@ -0,0 +1,22 @@
+set -e
+
+VERSION=0.15.1
+
+[ ! -d Open3D ] && git clone https://github.com/isl-org/Open3D.git -b v$VERSION || echo "Skip pulling repo"
+
+[ ! -d Open3D/build ] && mkdir Open3D/build
+cd Open3D/build
+
+cmake .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -Wno-dev \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_PYTHON_MODULE=OFF \
+    -DBUILD_ISPC_MODULE=OFF \
+    -DBUILD_WEBRTC=OFF
+
+
+make -j$(nproc)
+
+echo "Applying 'sudo make install'. Enter password"
+sudo make install

patchworkpp/CMakeLists.txt

@@ -2,7 +2,11 @@ project(patchworkpp_src)
 
 include(GNUInstallDirs)
 
-add_library(patchworkpp SHARED src/patchworkpp.cpp)
+find_package(Eigen3 REQUIRED QUIET)
+
+add_library(patchworkpp STATIC src/patchworkpp.cpp)
+set_target_properties(patchworkpp PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
 target_include_directories(patchworkpp PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

pyproject.toml

@@ -0,0 +1,21 @@
+[build-system]
+requires = ["scikit_build_core", "pybind11"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "pypatchworkpp"
+version = "0.0.1"
+requires-python = ">=3.8"
+description = "ground segmentation"
+dependencies = [
+	"numpy>=1.23"
+]
+
+[project.optional-dependencies]
+demo = [
+	"open3d-cpu>=0.17"
+]
+
+[tool.scikit-build]
+cmake.args = ["-DINCLUDE_PYTHON_WRAPPER=true"]
+

python_wrapper/CMakeLists.txt

@@ -1,9 +1,11 @@
-project(patchworkpp_python_wrapper)
+project(patchworkpp_python_wrapper LANGUAGES CXX)
 
 pybind11_add_module(pypatchworkpp pybinding.cpp)
 
 target_link_libraries(pypatchworkpp PUBLIC PATCHWORK::patchworkpp)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
   target_compile_options(pypatchworkpp PUBLIC -fsized-deallocation)
-endif()
+endif()
+
+install(TARGETS pypatchworkpp DESTINATION .)