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Linux Wheel (#24)
* feat: Added new py-bindings * feat: Complete python bindings * feat: Linux wheel to Test-PyPI * fix: yum install boost-graph * fix: install boost ci * fix: boost installation step * fix: cd * fix: try fix perm denied * fix: sudo chown user * fix: remove sudo * fix: moved install boost step after checkout * feat: add BOOST_ROOT variable * feat: set LD_LIBRARY_PATH path to libgraph * fix: removed unused folder Co-authored-by: Arthur_Ch <56088401+ArthurChains@users.noreply.github.com>
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‎.github/workflows/linux_wheel.yml‎

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# # # # # # # # #
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# Source: https://github.com/miloserdova-l/mrob/blob/feature/windows-wheel/.github/workflows/wheels.yml
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# # # # # # # # #
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name: Build wheels
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on: [push, pull_request, workflow_dispatch]
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jobs:
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build:
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name: Build map_metrics project
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runs-on: ubuntu-latest
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env:
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PYTHONPATH: ./lib
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strategy:
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fail-fast: false
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steps:
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- uses: actions/checkout@v2
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- name: Install required packages from distro
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run: |
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sudo apt-get update
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sudo apt-get install -y --no-install-recommends git build-essential g++ cmake python3-distutils python3-dev python3-numpy python3-pip libboost-graph-dev
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python3 -m pip install pytest
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- name: Configure and build native map_metrics library with Python bindings
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run: |
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mkdir -p build
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cmake -S $PWD -B $PWD/build \
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-DCMAKE_RUNTIME_OUTPUT_DIRECTORY=$PWD/bin \
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-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$PWD/lib \
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-DCMAKE_BUILD_TYPE=RELEASE \
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&& cmake --build build -j $(nproc)
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build_wheel_linux:
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name: Build wheel on ${{ matrix.os }}
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runs-on: ${{ matrix.os }}
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container: quay.io/pypa/manylinux2010_x86_64
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needs: build
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest]
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steps:
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- name: Install additional utils
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run: yum install -y git openssh-clients wget
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- uses: actions/checkout@v1
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- name: Install fresh CMake into ManyLinux container
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run: |
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env pybin=$(LANG=C ls -d1r /opt/python/cp3*/bin | head -n 1) bash -c '$pybin/python -m pip install cmake && mkdir -p /usr/local/bin && ln -svf $pybin/cmake /usr/local/bin/cmake'
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cmake --version
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- name: Install Boost 1.55.0
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run: |
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wget http://sourceforge.net/projects/boost/files/boost/1.55.0/boost_1_55_0.tar.bz2 --no-check-certificate
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tar -xvjf boost_1_55_0.tar.bz2
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cd boost_1_55_0/
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./bootstrap.sh --with-icu
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./b2 --with-graph
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chmod -R +x ./*
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echo "BOOST_ROOT=$(pwd)" >> $GITHUB_ENV
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echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(pwd)/stage/lib" >> $GITHUB_ENV
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- name: Build Python wheel
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run: |
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chmod -R +x scripts/* \
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&& scripts/build-wheels-linux.sh
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- uses: actions/upload-artifact@v1
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with:
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name: artifact
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path: ./wheelhouse
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publish_test_pypi:
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name: Publish wheels to Test PyPI
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needs: build_wheel_linux
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if: github.event_name == 'push'
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runs-on: ubuntu-latest
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steps:
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- name: Download artifacts
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uses: actions/download-artifact@v2
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- name: Publish to Test-PyPI
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uses: pypa/gh-action-pypi-publish@release/v1
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with:
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user: __token__
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password: ${{ secrets.TEST_PYPI_API_TOKEN }}
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repository_url: https://test.pypi.org/legacy/
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packages_dir: artifact/

‎CMakeLists.txt‎

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# # # # # # OPTIONS # # # # # #
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option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" OFF)
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# Build Tests
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option(BUILD_TESTS "Build an executable with tests" ON)
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option(BUILD_TESTS "Build an executable with tests" OFF)
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# Python Bindings
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option(BUILD_PYTHON_MODULE "Build the Python library interface" OFF)
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option(BUILD_PYTHON_MODULE "Build the Python library interface" ON)
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# Address sanitizer
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option(USE_ASAN "Address sanitizer" OFF)
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# Memory sanitizer

‎cpp/CMakeLists.txt‎

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target_link_libraries(map_metrics_cpp PRIVATE Eigen3::Eigen)
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endif()
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target_include_directories(map_metrics_cpp PRIVATE "${CMAKE_BINARY_DIR}/external/cilantro/cilantro/include")
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target_include_directories(map_metrics_cpp PUBLIC "${CMAKE_BINARY_DIR}/external/cilantro/cilantro/include")
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# TODO: Is it really necessary to specify target_include_dir for alglib here?
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target_include_directories(map_metrics_cpp PUBLIC "${CMAKE_BINARY_DIR}/external/alglib/include")
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target_include_directories(map_metrics_cpp PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}")

‎cpp/config.h‎

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LidarConfig(): CustomConfig() {}
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};
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class DepthConfig: public CustomConfig{
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public:
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DepthConfig(): CustomConfig(5, 0.2) {}
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};
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} // namespace config
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#endif // MAP_METRICS_CONFIG_H

‎cpp/metrics.cpp‎

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&metrics_utils::metrics_algorithm::ComputeEntropy);
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}
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double GetMOM(std::vector<cilantro::VectorSet3d> const & pcs_points, std::vector<Eigen::Matrix4d> const & ts,
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config::CustomConfig config, std::vector<cilantro::VectorSet3d> const & orth_subset){
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return ComputeOrthogonalMetrics(pcs_points, ts, config,
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&metrics_utils::metrics_algorithm::ComputeEigenvalues, orth_subset);
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}
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} // namespace metrics

‎cpp/metrics.h‎

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// MOM. Mutually Orthogonal Metric
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double GetMOM(std::vector<cilantro::VectorSet3d> const & pcs_points, std::vector<Eigen::Matrix4d> const & ts,
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config::CustomConfig config = config::LidarConfig());
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config::CustomConfig config = config::LidarConfig(), std::vector<cilantro::VectorSet3d> const & orth_subset = {});
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} // namespace metrics
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#endif //MAP_METRICS_METRICS_H

‎cpp/pybind/CMakeLists.txt‎

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pybind11_add_module(map_metrics metrics.cpp)
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find_package(Eigen3 3.4 REQUIRED)
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target_link_libraries(map_metrics PRIVATE Eigen3::Eigen)
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target_link_libraries(map_metrics PUBLIC map_metrics_cpp)

‎cpp/pybind/metrics.cpp‎

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#include <pybind11/stl.h>
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#include <metrics.h>
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#include <orth_extract.h>
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#include <config.h>
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// Python: arg0: List[numpy.ndarray[numpy.float64[3, n]]], arg1: List[numpy.ndarray[numpy.float64[4, 4]]]) -> float
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namespace py = pybind11;
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std::vector<cilantro::VectorSet3d> extract_orthogonal(
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cilantro::VectorSet3d const & points , config::CustomConfig config, double eps=1e-1)
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{
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return orth_extract::ExtractOrthogonalSubset(cilantro::PointCloud3d(points), config, eps);
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}
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PYBIND11_MODULE(map_metrics, m){
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m.doc() = "Baseline of MPV and MME metrics";
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m.def("mpv", py::overload_cast<
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const std::vector<cilantro::VectorSet3d> &,
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const std::vector<Eigen::Matrix4d> &, int, double>(&metrics::GetMPV));
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m.def("mme", py::overload_cast<
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const std::vector<cilantro::VectorSet3d> &,
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const std::vector<Eigen::Matrix4d> &, int, double>(&metrics::GetMME));
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m.doc() = R"(Map-Metrics library
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A tool for evaluating the quality of odometry algorithm trajectory.)";
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py::module_ mcfg = m.def_submodule("config", "Config submodule");
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py::class_<config::CustomConfig>(mcfg, "CustomConfig")
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.def(py::init<int, double, int, int>());
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m.def("mpv", &metrics::GetMPV, "Mean Plane Variance trajectory metric",
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py::arg("pcs"),
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py::arg("poses"),
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py::arg("config") = config::CustomConfig());
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m.def("mme", &metrics::GetMME, "Mean Map Entropy trajectory metric",
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py::arg("pcs"),
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py::arg("poses"),
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py::arg("config") = config::CustomConfig());
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m.def("mom", &metrics::GetMOM, "Mutually Orthogonal Metric trajectory metric",
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py::arg("pcs"),
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py::arg("poses"),
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py::arg("config") = config::CustomConfig(),
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py::arg("orth_subset") = std::vector<cilantro::VectorSet3d>());
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m.def("extract_orthogonal", &extract_orthogonal, "Extract orthogonal plane subset from Point Cloud",
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py::arg("pc"),
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py::arg("config") = config::CustomConfig(),
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py::arg("eps") = 1e-1);
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}

‎scripts/build-wheels-linux.sh‎

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-DPYTHON_EXECUTABLE:FILEPATH=${PYBIN} \
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-DCMAKE_BUILD_WITH_INSTALL_RPATH=TRUE \
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-DCMAKE_INSTALL_RPATH='$ORIGIN' \
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-DBOOST_ROOT=${BOOST_ROOT} \
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-DCMAKE_RUNTIME_OUTPUT_DIRECTORY=$PWD/../bin \
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-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$PWD/../map_metrics \
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&& cmake --build .

‎setup.py‎

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setup_kwargs = dict(
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name='map_metrics',
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version='0.0.4',
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version='0.0.5',
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packages=find_packages(),
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cmdclass={'bdist_wheel': bdist_wheel}
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)

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