Feature/system pybind

.cmake-format.yaml

@@ -1,3 +1,4 @@
+---
 parse:
   additional_commands:
     catkin_package:
@@ -9,20 +10,22 @@ parse:
         LIBRARIES: '*'
     catkin_add_gtest:
       pargs: 1
+    pybind11_add_module:
+      pargs: 1
 format:
   line_width: 88
   tab_size: 2
   use_tabchars: false
-  max_subgroups_hwrap: 5
-  #max_pargs_hwrap: 6
+  max_subgroups_hwrap: 3
+  max_pargs_hwrap: 3
   max_rows_cmdline: 2
   dangle_parens: true
   dangle_align: prefix
   min_prefix_chars: 4
   max_prefix_chars: 10
-  max_lines_hwrap: 2
+  max_lines_hwrap: 1
   command_case: canonical
   keyword_case: unchanged
-  always_wrap: [add_library]
+  always_wrap: [add_library, pybind11_add_module]
   enable_sort: true
   autosort: false

.github/workflows/catkin.yaml

@@ -1,19 +1,22 @@
 ---
-name: "ROS Noetic: Build and Test"
+name: 'ROS Noetic: Build and Test'
 on: [push]
 jobs:
   build:
     runs-on: ubuntu-latest
     container: ros:noetic-ros-base-focal
     steps:
+      - name: Install Git
+        run: apt update && apt install -y git
       # checkout the code
       - uses: actions/checkout@v4
         with:
           path: src/spark_dsg
+          submodules: true
       # install necessary dependences
       - name: Dependencies
         run: |
-          apt update && apt install -y python3-wstool python3-catkin-tools python3-vcstool git
+          apt update && apt install -y python3-wstool python3-catkin-tools python3-vcstool
           rosdep update --rosdistro noetic && rosdep install --rosdistro noetic --from-paths src --ignore-src -r -y
       # configure repo
       - name: Configure

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "third_party/pybind11"]
+	path = third_party/pybind11
+	url = https://github.com/pybind/pybind11.git

CMakeLists.txt

@@ -14,8 +14,6 @@ option(SPARK_DSG_BUILD_ZMQ "Build zmq message interface" ON)
 option(SPARK_DSG_PROFILE_BUILD "Profile build time" OFF)
 option(BUILD_SHARED_LIBS "Build shared libs" ON)
 
-configure_file(cmake/spark_dsg_version.h.in include/spark_dsg_version.h)
-
 find_package(nlohmann_json REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Threads REQUIRED)
@@ -27,6 +25,13 @@ if(SPARK_DSG_PROFILE_BUILD)
   add_compile_options(-ftime-trace)
 endif()
 
+if(SPARK_DSG_BUILD_ZMQ AND zmq_FOUND)
+  set(SPARK_DSG_USE_ZMQ 1)
+else()
+  set(SPARK_DSG_USE_ZMQ 0)
+endif()
+configure_file(cmake/spark_dsg_version.h.in include/spark_dsg_version.h)
+
 add_library(
   ${PROJECT_NAME}
   src/adjacency_matrix.cpp
@@ -50,6 +55,7 @@ add_library(
   src/scene_graph_node.cpp
   src/scene_graph_types.cpp
   src/scene_graph_utilities.cpp
+  src/zmq_interface.cpp
   src/serialization/attribute_serialization.cpp
   src/serialization/binary_conversions.cpp
   src/serialization/binary_serialization.cpp
@@ -66,8 +72,9 @@ if(NOT BUILD_SHARED_LIBS)
 endif()
 
 target_include_directories(
-  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>
-                         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  ${PROJECT_NAME}
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
 )
 target_link_libraries(
@@ -78,17 +85,22 @@ target_link_libraries(
 if(SPARK_DSG_BUILD_ZMQ AND zmq_FOUND)
   target_link_libraries(${PROJECT_NAME} PRIVATE ${zmq_LIBRARIES})
   target_include_directories(${PROJECT_NAME} PRIVATE ${zmq_INCLUDE_DIRS})
-  target_sources(
-    ${PROJECT_NAME}
-    PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/zmq_interface.cpp>"
-  )
+endif()
 
-  if(SPARK_DSG_BUILD_EXAMPLES)
-    add_subdirectory(examples)
-  endif()
+if(SPARK_DSG_BUILD_EXAMPLES)
+  add_subdirectory(examples)
 endif()
 
 if(SPARK_DSG_BUILD_PYTHON OR SPARK_DSG_BUILD_TESTS)
+  if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/pybind11/.git)
+    find_package(Git REQUIRED)
+    execute_process(
+      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+  endif()
+
+  add_subdirectory(third_party/pybind11 EXCLUDE_FROM_ALL)
   add_subdirectory(python)
 endif()
 
@@ -104,15 +116,6 @@ add_library(
   spark_dsg::${PROJECT_NAME} ALIAS ${PROJECT_NAME}
 )
 
-install(TARGETS ${PROJECT_NAME} EXPORT spark_dsg-targets
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-)
-install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-install(EXPORT spark_dsg-targets FILE spark_dsgTargets.cmake NAMESPACE spark_dsg::
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
-)
-
 write_basic_package_version_file(
   ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfigVersion.cmake VERSION ${PROJECT_VERSION}
   COMPATIBILITY AnyNewerVersion
@@ -124,7 +127,24 @@ configure_package_config_file(
   INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
 )
 
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfig.cmake
-              ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfigVersion.cmake
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT spark_dsg-targets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+install(
+  EXPORT spark_dsg-targets
+  FILE spark_dsgTargets.cmake
+  NAMESPACE spark_dsg::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
+)
+
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfig.cmake
+        ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfigVersion.cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
 )

cmake/spark_dsg_version.h.in

@@ -37,4 +37,6 @@
 // Define variables through CMake.
 #define SPARK_DSG_VERSION_MAJOR @spark_dsg_VERSION_MAJOR@
 #define SPARK_DSG_VERSION_MINOR @spark_dsg_VERSION_MINOR@
-#define SPARK_DSG_VERSION_PATCH @spark_dsg_VERSION_PATCH@
+#define SPARK_DSG_VERSION_PATCH @spark_dsg_VERSION_PATCH@
+
+#define SPARK_DSG_USE_ZMQ @SPARK_DSG_USE_ZMQ@

python/CMakeLists.txt

@@ -1,42 +1,14 @@
 cmake_minimum_required(VERSION 3.16)
 project(spark_dsg_python)
 
-include(FetchContent)
-FetchContent_Declare(pybind11 GIT_REPOSITORY https://github.com/pybind/pybind11.git)
-
-FetchContent_GetProperties(pybind11)
-if(NOT googletest_POPULATED)
-  FetchContent_Populate(pybind11)
-endif()
-
-add_subdirectory(${pybind11_SOURCE_DIR} ${pybind11_BINARY_DIR} EXCLUDE_FROM_ALL)
-
-set(ZMQ_INTERFACE_ENABLED 0)
-if(SPARK_DSG_BUILD_ZMQ AND zmq_FOUND)
-  set(ZMQ_INTERFACE_ENABLED 1)
-endif()
-configure_file(
-  bindings/include/spark_dsg/python/zmq_interface.h.in
-  bindings/include/spark_dsg/python/zmq_interface.h
-)
 pybind11_add_module(
   _dsg_bindings
-  bindings/src/bounding_box.cpp
-  bindings/src/dynamic_scene_graph.cpp
-  bindings/src/edge_attributes.cpp
-  bindings/src/mesh.cpp
-  bindings/src/misc_types.cpp
-  bindings/src/node_attributes.cpp
-  bindings/src/scene_graph_edge.cpp
+  bindings/src/mesh_helpers.cpp
+  bindings/src/python_layer_view.cpp
   bindings/src/scene_graph_iterators.cpp
-  bindings/src/scene_graph_layer.cpp
-  bindings/src/scene_graph_node.cpp
-  bindings/src/scene_graph_utilities.cpp
   bindings/src/spark_dsg_bindings.cpp
-  bindings/src/zmq_interface.cpp
 )
 target_link_libraries(_dsg_bindings PRIVATE spark_dsg)
 target_include_directories(
   _dsg_bindings PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/bindings/include
-                        ${CMAKE_CURRENT_BINARY_DIR}/bindings/include
 )

python/bindings/include/spark_dsg/python/zmq_interface.h.in → python/bindings/include/spark_dsg/python/mesh_helpers.h

@@ -32,14 +32,13 @@
  * Government is authorized to reproduce and distribute reprints for Government
  * purposes notwithstanding any copyright notation herein.
  * -------------------------------------------------------------------------- */
-#pragma once
+#include <spark_dsg/mesh.h>
 
-#define INCLUDE_ZMQ() @ZMQ_INTERFACE_ENABLED@
+namespace spark_dsg::python {
 
-namespace pybind11 {
-class module_;
-}
+Eigen::MatrixXd getEigenVertices(const Mesh& mesh);
+void setEigenVertices(Mesh& mesh, const Eigen::MatrixXd& points);
+Eigen::MatrixXi getEigenFaces(const Mesh& mesh);
+void setEigenFaces(Mesh& mesh, const Eigen::MatrixXi& indices);
 
-namespace spark_dsg::python::zmq_interface {
-void addBindings(pybind11::module_& m);
-}
+}  // namespace spark_dsg::python