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Merge pull request #1685 from talregev/TalR/test_python_windows

release/4.3a0
Varun Agrawal 2024-01-16 19:00:32 -05:00 committed by GitHub
parent 2bc7be20f4 b104fd6690
commit f1913887db
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GPG Key ID: B5690EEEBB952194
10 changed files with 177 additions and 14 deletions
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9
.github/scripts/python.sh vendored
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@ -65,7 +65,7 @@ function build()
# Set to 2 cores so that Actions does not error out during resource provisioning.
cmake --build build -j2
$PYTHON -m pip install --user build/python
cmake --build build --target python-install
}
function test()
@ -73,6 +73,13 @@ function test()
cd $GITHUB_WORKSPACE/python/gtsam/tests
$PYTHON -m unittest discover -v
cd $GITHUB_WORKSPACE
cd $GITHUB_WORKSPACE/python/gtsam_unstable/tests
$PYTHON -m unittest discover -v
cd $GITHUB_WORKSPACE
# cmake --build build --target python-test
# cmake --build build --target python-test-unstable
}
# select between build or test

50
.github/workflows/build-python.yml vendored
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@ -18,6 +18,8 @@ jobs:
CTEST_PARALLEL_LEVEL: 2
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
PYTHON_VERSION: ${{ matrix.python_version }}
BOOST_VERSION: 1.72.0
BOOST_EXE: boost_1_72_0-msvc-14.2
strategy:
fail-fast: true
@ -30,6 +32,7 @@ jobs:
ubuntu-20.04-gcc-9-tbb,
ubuntu-20.04-clang-9,
macOS-11-xcode-13.4.1,
windows-2019-msbuild,
]
build_type: [Release]
@ -56,6 +59,10 @@ jobs:
compiler: xcode
version: "13.4.1"
- name: windows-2019-msbuild
os: windows-2019
platform: 64
steps:
- name: Checkout
uses: actions/checkout@v3
@ -97,29 +104,68 @@ jobs:
echo "CC=clang" >> $GITHUB_ENV
echo "CXX=clang++" >> $GITHUB_ENV
- name: Setup msbuild (Windows)
if: runner.os == 'Windows'
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{matrix.platform}}
- name: Setup python (Windows)
uses: actions/setup-python@v4
if: runner.os == 'Windows'
with:
python-version: ${{ matrix.python_version }}
- name: Install ninja (Windows)
if: runner.os == 'Windows'
shell: bash
run: |
choco install ninja
ninja --version
where ninja
- name: Install Boost (Windows)
if: runner.os == 'Windows'
shell: powershell
run: |
# Snippet from: https://github.com/actions/virtual-environments/issues/2667
$BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64"
# Use the prebuilt binary for Windows
$Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe"
(New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH"
# Set the BOOST_ROOT variable
echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
- name: Set GTSAM_WITH_TBB Flag
if: matrix.flag == 'tbb'
run: |
echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
echo "GTSAM Uses TBB"
- name: Set Swap Space
- name: Set Swap Space (Linux)
if: runner.os == 'Linux'
uses: pierotofy/set-swap-space@master
with:
swap-size-gb: 6
- name: Install System Dependencies
- name: Install System Dependencies (Linux, macOS)
if: runner.os != 'Windows'
run: |
bash .github/scripts/python.sh -d
- name: Install Python Dependencies
shell: bash
run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt
- name: Build
shell: bash
run: |
bash .github/scripts/python.sh -b
- name: Test
shell: bash
run: |
bash .github/scripts/python.sh -t

4
gtsam/base/utilities.h
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@ -4,6 +4,8 @@
#include <iostream>
#include <sstream>
#include <gtsam/dllexport.h>
namespace gtsam {
/**
* For Python __str__().
@ -11,7 +13,7 @@ namespace gtsam {
* of an object when it prints to cout.
* https://stackoverflow.com/questions/5419356/redirect-stdout-stderr-to-a-string
*/
struct RedirectCout {
struct GTSAM_EXPORT RedirectCout {
/// constructor -- redirect stdout buffer to a stringstream buffer
RedirectCout() : ssBuffer_(), coutBuffer_(std::cout.rdbuf(ssBuffer_.rdbuf())) {}

4
gtsam/discrete/DiscreteValues.h
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@ -126,12 +126,12 @@ inline std::vector<DiscreteValues> cartesianProduct(const DiscreteKeys& keys) {
}
/// Free version of markdown.
std::string markdown(const DiscreteValues& values,
std::string GTSAM_EXPORT markdown(const DiscreteValues& values,
const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const DiscreteValues::Names& names = {});
/// Free version of html.
std::string html(const DiscreteValues& values,
std::string GTSAM_EXPORT html(const DiscreteValues& values,
const KeyFormatter& keyFormatter = DefaultKeyFormatter,
const DiscreteValues::Names& names = {});

2
gtsam/geometry/Rot3.h
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@ -396,7 +396,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
Matrix3 AdjointMap() const { return matrix(); }
// Chart at origin, depends on compile-time flag ROT3_DEFAULT_COORDINATES_MODE
struct ChartAtOrigin {
struct GTSAM_EXPORT ChartAtOrigin {
static Rot3 Retract(const Vector3& v, ChartJacobian H = {});
static Vector3 Local(const Rot3& r, ChartJacobian H = {});
};

2
gtsam/nonlinear/CustomFactor.h
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@ -42,7 +42,7 @@ using CustomErrorFunction = std::function<Vector(const CustomFactor &, const Val
*
* This factor is mainly for creating a custom factor in Python.
*/
class CustomFactor: public NoiseModelFactor {
class GTSAM_EXPORT CustomFactor: public NoiseModelFactor {
protected:
CustomErrorFunction error_function_;

55
gtsam/nonlinear/Values-inl.h
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@ -197,6 +197,61 @@ namespace gtsam {
}
};
// Added this section for compile gtsam python on windows.
// msvc don't deduct the template arguments correctly, due possible bug in msvc.
#ifdef _WIN32
// Handle dynamic matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N, 0, M, N>, true> {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const Matrix&, and the return makes a copy !!!!!
return ptr->value();
} else {
// If a fixed matrix was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer), typeid(Eigen::Matrix<double, M, N>));
}
}
};
// Handle fixed matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N, 0, M, N>, false> {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const MatrixMN&, and the return makes a copy !!!!!
return ptr->value();
} else {
Matrix A;
// Check if a dynamic matrix was stored
auto ptr = dynamic_cast<const GenericValue<Eigen::MatrixXd>*>(pointer);
if (ptr) {
A = ptr->value();
} else {
// Or a dynamic vector
A = handle_matrix<Eigen::VectorXd, true>()(j, pointer); // will throw if not....
}
// Yes: check size, and throw if not a match
if (A.rows() != M || A.cols() != N)
throw NoMatchFoundForFixed(M, N, A.rows(), A.cols());
else
return A; // copy but not malloc
}
}
};
// Handle matrices
template <int M, int N>
struct handle<Eigen::Matrix<double, M, N, 0, M, N>> {
Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
return handle_matrix<Eigen::Matrix<double, M, N, 0, M, N>,
(M == Eigen::Dynamic || N == Eigen::Dynamic)>()(j, pointer);
}
};
#endif // #ifdef _WIN32
} // internal
/* ************************************************************************* */

2
gtsam/sfm/DsfTrackGenerator.h
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@ -69,7 +69,7 @@ using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
* correspondence indices, from each image.
* @param Length-N list of keypoints, for N images/cameras.
*/
std::vector<SfmTrack2d> tracksFromPairwiseMatches(
std::vector<SfmTrack2d> GTSAM_EXPORT tracksFromPairwiseMatches(
const MatchIndicesMap& matches, const KeypointsVector& keypoints,
bool verbose = false);

60
python/CMakeLists.txt
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@ -94,6 +94,14 @@ set(interface_headers
set(GTSAM_PYTHON_TARGET gtsam_py)
set(GTSAM_PYTHON_UNSTABLE_TARGET gtsam_unstable_py)
set(GTSAM_OUTPUT_NAME "gtsam")
set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable")
if(MSVC)
set(GTSAM_OUTPUT_NAME "gtsam_py")
set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable_py")
endif()
pybind_wrap(${GTSAM_PYTHON_TARGET} # target
"${interface_headers}" # interface_headers
"gtsam.cpp" # generated_cpp
@ -109,12 +117,30 @@ pybind_wrap(${GTSAM_PYTHON_TARGET} # target
set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam"
OUTPUT_NAME "${GTSAM_OUTPUT_NAME}"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam"
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
)
if(WIN32)
set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
SUFFIX ".pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/${GTSAM_OUTPUT_NAME}.pyd"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/gtsam.pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"$<TARGET_FILE:gtsam>;$<TARGET_RUNTIME_DLLS:gtsam>"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/"
COMMAND_EXPAND_LISTS
VERBATIM
)
endif()
# Set the path for the GTSAM python module
set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
@ -188,7 +214,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam_unstable"
OUTPUT_NAME "${GTSAM_UNSTABLE_OUTPUT_NAME}"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
@ -208,13 +234,39 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
# Add gtsam_unstable to the install target
list(APPEND GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_UNSTABLE_TARGET})
if(WIN32)
set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
SUFFIX ".pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/${GTSAM_UNSTABLE_OUTPUT_NAME}.pyd"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/gtsam_unstable.pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"$<TARGET_FILE:gtsam_unstable>;$<TARGET_RUNTIME_DLLS:gtsam_unstable>"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/"
COMMAND_EXPAND_LISTS
VERBATIM
)
endif()
# Custom make command to run all GTSAM_UNSTABLE Python tests
add_custom_target(
python-test-unstable
COMMAND
${CMAKE_COMMAND} -E env # add package to python path so no need to install
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
${PYTHON_EXECUTABLE} -m unittest discover -v -s .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/tests"
)
endif()
# Add custom target so we can install with `make python-install`
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
COMMAND ${PYTHON_EXECUTABLE} -m pip install .
COMMAND ${PYTHON_EXECUTABLE} -m pip install --user .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})

3
python/setup.py.in
View File

@ -11,7 +11,8 @@ print("PACKAGES: ", packages)
package_data = {
'': [
"./*.so",
"./*.dll"
"./*.dll",
"./*.pyd",
]
}