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Pip buildable (#196)
Credit: EmDash00 * feat. buildable and installable wheels * remove default(none) so clang v17+ doesn't complain * Upgrade pybind11 to v2.13.6, gain support for numpy 2.0 * Add alternate rpaths for normal builds without sckit-build * Make to to install the python files to the wheel * Make the bindings for RobustRegistrationSolver more Pythonic * export compile commands * Make python bindings overall more pythonic, add type interface * add python development dependencies * undo experimental package name change * Fix double declarations of enums while mantaining backwards compatability * Update example * Refactor, fix typos, and format python bindings; annotate OMP_MAX_THREADS as Final * Make python binding of RobustRegistrationSolver constructor backwards compatible with v1.0.0 * Add properties to make things more pythonic --------- Co-authored-by: EmDash00 <[email protected]>
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‎CMakeLists.txt‎

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@@ -4,6 +4,7 @@ project(teaserpp VERSION 1.0.0)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules/" ${CMAKE_MODULE_PATH})
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# Check build types
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if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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STRING "Choose the type of build." FORCE)
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endif ()
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if (DEFINED SKBUILD)
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message(STATUS "Building with Scikit-Build")
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endif ()
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# Options
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option(BUILD_TESTS "Build tests" ON)
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option(BUILD_TEASER_FPFH "Build TEASER++ wrappers for PCL FPFH estimation." OFF)

‎cmake/pybind11.CMakeLists.txt.in‎

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@@ -5,11 +5,11 @@ project(pybind11-download NONE)
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include(ExternalProject)
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ExternalProject_Add(pmc
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GIT_REPOSITORY https://github.com/pybind/pybind11.git
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GIT_TAG v2.11.1
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GIT_TAG v2.13.6
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SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/pybind11-src"
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BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/pybind11-build"
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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TEST_COMMAND ""
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)
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)

‎pyproject.toml‎

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[build-system]
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requires = ["scikit_build_core", "pybind11"]
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build-backend = "scikit_build_core.build"
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[project]
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name = "teaserpp_python"
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version = "1.1.0"
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description = "Python binding for TEASER++"
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readme = "README.md"
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authors = [
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{ name = "Jingnan Shi", email = "[email protected]" },
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]
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keywords = [
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"Point cloud",
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"Registration",
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"Non-minimal solver",
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"Solver",
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]
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classifiers = [
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"Intended Audience :: Developers",
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"Intended Audience :: Education",
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"Intended Audience :: Other Audience",
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"Intended Audience :: Science/Research",
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"License :: OSI Approved :: MIT License",
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"Operating System :: MacOS",
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"Operating System :: Microsoft :: Windows",
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"Operating System :: Unix",
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"Programming Language :: C++",
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"Programming Language :: Python :: 3",
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"Programming Language :: Python :: 3.6",
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"Programming Language :: Python :: 3.7",
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"Programming Language :: Python :: 3.8",
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"Programming Language :: Python :: 3.9",
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"Programming Language :: Python :: 3.10",
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"Programming Language :: Python :: 3.13",
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]
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dependencies = [
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"numpy",
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"typing-extensions~=4.2",
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]
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[project.urls]
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Homepage = "https://github.com/MIT-SPARK/TEASER-plusplus"
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[tool.scikit-build]
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build-dir = "build/{wheel_tag}"
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build.verbose = false
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cmake.version = ">=3.16"
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wheel.install-dir = "teaserpp_python.libs"
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[tool.cibuildwheel]
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archs = ["auto64"]
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skip = ["*-musllinux*", "pp*", "cp36-*"]
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[tool.cibuildwheel.macos]
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environment = "MACOSX_DEPLOYMENT_TARGET=10.14"
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archs = ["auto64", "arm64"]
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[tool.pyright]
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venvPath = "."
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venv = ".venv"
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typeCheckingMode = "standard"
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reportUnusedImport = "none"
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reportUnusedFunction = "none"
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reportUnusedVariable = "none"
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reportUndefinedVariable = "none"
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[tool.ruff]
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# Exclude a variety of commonly ignored directories.
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exclude = [
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".bzr",
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".direnv",
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".eggs",
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".git",
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".git-rewrite",
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".hg",
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".ipynb_checkpoints",
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".mypy_cache",
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".nox",
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".pants.d",
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".pyenv",
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".pytest_cache",
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".pytype",
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".ruff_cache",
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".svn",
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".tox",
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".venv",
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".vscode",
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"__pypackages__",
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"_build",
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"buck-out",
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"build",
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"dist",
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"node_modules",
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"site-packages",
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"venv",
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]
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# Same as Black.
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line-length = 88
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indent-width = 4
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# Assume Python 3.9
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target-version = "py39"
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[tool.ruff.lint]
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# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default.
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# Unlike Flake8, Ruff doesn't enable pycodestyle warnings (`W`) or
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# McCabe complexity (`C901`) by default.
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select = ["E", "F", "I001"]
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ignore = []
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# Allow fix for all enabled rules (when `--fix`) is provided.
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fixable = ["ALL"]
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unfixable = []
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# Allow unused variables when underscore-prefixed.
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dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
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[tool.ruff.format]
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# Like Black, use double quotes for strings.
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quote-style = "double"
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# Like Black, indent with spaces, rather than tabs.
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indent-style = "space"
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# Like Black, respect magic trailing commas.
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skip-magic-trailing-comma = false
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# Like Black, automatically detect the appropriate line ending.
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line-ending = "auto"
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# Enable auto-formatting of code examples in docstrings. Markdown,
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# reStructuredText code/literal blocks and doctests are all supported.
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#
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# This is currently disabled by default, but it is planned for this
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# to be opt-out in the future.
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docstring-code-format = true
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# Set the line length limit used when formatting code snippets in
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# docstrings.
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#
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# This only has an effect when the `docstring-code-format` setting is
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# enabled.
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docstring-code-line-length = "dynamic"
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[dependency-groups]
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dev = [
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"basedpyright>=1.22.0",
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"ruff>=0.8.1",
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]

‎python/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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project(teaser_python_bindings)
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# make sure to output the build file to teaserpp_python folder
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SET_TARGET_PROPERTIES(teaserpp_python
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PROPERTIES
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PREFIX ""
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LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
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)
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PROPERTIES
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OUTPUT_NAME "_teaserpp"
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PREFIX ""
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LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
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INSTALL_RPATH "$ORIGIN/../teaserpp_python.libs/lib;$ORIGIN/../../teaser/"
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BUILD_WITH_INSTALL_RPATH TRUE
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)
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# copy package __init__.py file
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configure_file(teaserpp_python/__init__.py
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${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python/__init__.py
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)
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configure_file(teaserpp_python/__init__.py
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${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python/_teaserpp.pyi
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)
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# copy setup.py file
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configure_file(setup.py.in
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${CMAKE_CURRENT_BINARY_DIR}/setup.py
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DESTINATION .
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FILES_MATCHING
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PATTERN *.py)
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if (DEFINED SKBUILD)
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install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teaserpp/
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DESTINATION "../teaserpp"
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FILES_MATCHING PATTERN "*.py"
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PATTERN "*.pyi"
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PATTERN "*.so"
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)
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install(TARGETS teaserpp_python DESTINATION "../teaserpp_python")
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endif ()

‎python/teaserpp_python/__init__.py‎

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from .teaserpp_python import *
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from functools import wraps
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from typing import Callable, NamedTuple
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from ._teaserpp import (
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OMP_MAX_THREADS,
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CertificationResult,
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DRSCertifier,
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EigSolverType,
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InlierGraphFormulation,
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InlierSelectionMode,
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RegistrationSolution,
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RobustRegistrationSolver,
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RotationEstimationAlgorithm,
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)
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# Backwards compatibility with v1.0 so we don't break code
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RobustRegistrationSolver.ROTATION_ESTIMATION_ALGORITHM = RotationEstimationAlgorithm
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RobustRegistrationSolver.INLIER_SELECTION_MODE = InlierSelectionMode
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RobustRegistrationSolver.INLIER_GRAPH_FORMULATION = InlierGraphFormulation
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DRSCertifier.EIG_SOLVER_TYPE = EigSolverType
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class RobustRegistrationSolverParams(NamedTuple):
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noise_bound: float = 0.01
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cbar2: float = 1
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estimate_scaling: bool = True
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rotation_estimation_algorithm: RotationEstimationAlgorithm = (
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RotationEstimationAlgorithm.GNC_TLS
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)
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rotation_gnc_factor: float = 1.4
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rotation_max_iterations: int = 100
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rotation_cost_threshold: float = 1e-6
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rotation_tim_graph: InlierGraphFormulation = InlierGraphFormulation.CHAIN
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inlier_selection_mode: InlierSelectionMode = InlierSelectionMode.PMC_EXACT
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kcore_heuristic_threshold: float = 0.5
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use_max_clique: bool = True
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max_clique_exact_solution: bool = True
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max_clique_time_limit: int = 3000
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max_clique_num_threads: int = OMP_MAX_THREADS
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# Do some Python magic
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def __init_deco(f: Callable[..., None]):
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@wraps(f)
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def wrapper(self, *args, **kwargs):
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f(self, *args, **kwargs)
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self._params = args
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return wrapper
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@property
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def __params_getter(self) -> RobustRegistrationSolverParams:
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return self._params
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RobustRegistrationSolver.__init__ = __init_deco(RobustRegistrationSolver.__init__)
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setattr(RobustRegistrationSolver, "params", __params_getter)

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