Nacho/scikit build core

Makefile

@@ -1,14 +1,15 @@
 .PHONY: cpp
 
-editable:
-	SETUPTOOLS_ENABLE_FEATURES="legacy-editable" pip install --verbose --prefix=$(shell python3 -m site --user-base) --editable ./python/
-
 install:
 	@pip install --verbose ./python/
 
 uninstall:
 	@pip -v uninstall kiss_icp
 
+editable:
+	@pip install scikit-build-core pyproject_metadata pathspec pybind11 ninja cmake
+	@pip install --no-build-isolation -ve ./python/
+
 cpp:
 	@cmake -Bbuild cpp/kiss_icp/
 	@cmake --build build -j$(nproc --all)

cpp/kiss_icp/3rdparty/eigen/eigen.cmake

@@ -32,8 +32,11 @@ set(EIGEN_BUILD_BLAS OFF CACHE BOOL "Don't build blas module")
 set(EIGEN_BUILD_LAPACK OFF CACHE BOOL "Don't build lapack module")
 
 include(FetchContent)
-FetchContent_Declare(eigen SYSTEM URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
-FetchContent_MakeAvailable(eigen)
+FetchContent_Declare(eigen URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
+if(NOT eigen_POPULATED)
+  FetchContent_Populate(eigen)
+  add_subdirectory(${eigen_SOURCE_DIR} ${eigen_BINARY_DIR} SYSTEM EXCLUDE_FROM_ALL)
+endif()
 
 if(${CMAKE_VERSION} VERSION_LESS 3.25)
   get_target_property(eigen_include_dirs eigen INTERFACE_INCLUDE_DIRECTORIES)

cpp/kiss_icp/3rdparty/tbb/tbb.cmake

@@ -28,8 +28,11 @@ option(TBB_STRICT OFF)
 option(TBB_TEST OFF)
 
 include(FetchContent)
-FetchContent_Declare(tbb SYSTEM URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.8.0.tar.gz)
-FetchContent_MakeAvailable(tbb)
+FetchContent_Declare(tbb URL https://github.com/oneapi-src/oneTBB/archive/refs/tags/v2021.8.0.tar.gz)
+if(NOT tbb_POPULATED)
+  FetchContent_Populate(tbb)
+  add_subdirectory(${tbb_SOURCE_DIR} ${tbb_BINARY_DIR} SYSTEM EXCLUDE_FROM_ALL)
+endif()
 
 if(${CMAKE_VERSION} VERSION_LESS 3.25)
   get_target_property(tbb_include_dirs tbb INTERFACE_INCLUDE_DIRECTORIES)

cpp/kiss_icp/CMakeLists.txt

@@ -24,11 +24,22 @@ cmake_minimum_required(VERSION 3.16...3.26)
 project(kiss_icp_cpp VERSION 0.2.10 LANGUAGES CXX)
 
 # Setup build options
+option(USE_CCACHE "Build using Ccache if found on the path" ON)
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_SOPHUS "Use system pre-installed Sophus" ON)
 option(USE_SYSTEM_TSLMAP "Use system pre-installed tsl_robin" ON)
 option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
 
+# ccache setup
+if(USE_CCACHE)
+  find_program(CCACHE_PATH ccache)
+  if(CCACHE_PATH)
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+    message(STATUS "Using ccache: ${CCACHE_PATH}")
+  endif()
+endif()
+
 # Set build type (repeat here for C++ only consumers)
 set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

python/CMakeLists.txt

@@ -28,6 +28,10 @@ set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+set(PYBIND11_NEWPYTHON ON)
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
+
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp/)
   add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp ${CMAKE_CURRENT_BINARY_DIR}/kiss_icp)
 else()

python/README.md

@@ -58,9 +58,9 @@ This should print the following help message:
 
 ### Install Python API (developer mode)
 
-If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
+If you plan to modify the code then you need to setup the dev dependencies, luckily, the only real
 requirements are a modern C++ compiler and the `pip` package manager, nothing else!, in Ubuntu-based
-sytems this can be done with:
+systems this can be done with:
 
 ```sh
 sudo apt install g++ python3-pip
@@ -71,7 +71,7 @@ After that you can clone the code and install the python api:
 ```sh
 git clone https://github.com/PRBonn/kiss-icp.git
 cd kiss-icp
-pip install --verbose .
+make editable
 ```
 
 ### Install Python API (expert mode)
@@ -108,5 +108,3 @@ We envision KISS-ICP as a comunity-driven project, we love to see how the projec
 <a href="https://github.com/PRBonn/kiss-icp/graphs/contributors">
   <img src="https://contrib.rocks/image?repo=PRBonn/kiss-icp" />
 </a>
-
-[![Star History Chart](https://api.star-history.com/svg?repos=PRBonn/kiss-icp&type=Date)](https://star-history.com/#PRBonn/kiss-icp&Date)

python/kiss_icp/pybind/CMakeLists.txt

@@ -20,34 +20,6 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-# Simply ignore the warnings when using scikit-build as the build system
-if(${SKBUILD})
-  set(ignore ${PYTHON_NumPy_INCLUDE_DIRS})
-  set(ignore ${Python3_EXECUTABLE})
-  set(ignore ${Python3_INCLUDE_DIR})
-  set(ignore ${Python3_LIBRARY})
-  set(ignore ${Python3_NumPy_INCLUDE_DIRS})
-  set(ignore ${Python_EXECUTABLE})
-  set(ignore ${Python_INCLUDE_DIR})
-  set(ignore ${Python_LIBRARY})
-  set(ignore ${Python_NumPy_INCLUDE_DIRS})
-  set(ignore ${Python3_FIND_REGISTRY})
-  set(ignore ${Python3_ROOT_DIR})
-  set(ignore ${Python_FIND_REGISTRY})
-  set(ignore ${Python_ROOT_DIR})
-endif()
-
-option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" ON)
-if(USE_SYSTEM_PYBIND11)
-  find_package(pybind11 QUIET)
-endif()
-if(NOT USE_SYSTEM_PYBIND11 OR NOT pybind11_FOUND)
-  set(USE_SYSTEM_PYBIND11 OFF)
-  include(${CMAKE_CURRENT_LIST_DIR}/pybind11/pybind11.cmake)
-endif()
-
 pybind11_add_module(kiss_icp_pybind MODULE kiss_icp_pybind.cpp)
 target_link_libraries(kiss_icp_pybind PRIVATE kiss_icp::core kiss_icp::metrics)
-install(TARGETS kiss_icp_pybind DESTINATION . COMPONENT python_bindings)
-add_custom_target(install_python_bindings ${CMAKE_COMMAND} -DCMAKE_INSTALL_COMPONENT=python_bindings -P
-                                          "${PROJECT_BINARY_DIR}/cmake_install.cmake" DEPENDS kiss_icp_pybind)
+install(TARGETS kiss_icp_pybind DESTINATION .)

python/pyproject.toml

@@ -1,11 +1,77 @@
 [build-system]
-requires = [
-    "cmake",
-    "ninja",
-    "scikit-build>=0.17.4",
-    "setuptools<66.0.0", # https://github.com/pypa/setuptools/issues/3772
+requires = ["scikit_build_core", "pybind11"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "kiss-icp"
+version = "0.2.10"
+description = "Simple yet effective 3D LiDAR-Odometry registration pipeline"
+readme = "README.md"
+authors = [
+    { name = "Ignacio Vizzo", email = "[email protected]" },
+]
+requires-python = ">=3.7"
+keywords = [
+    "LiDAR",
+    "Localization",
+    "Odometry",
+    "SLAM",
+]
+classifiers = [
+    "Intended Audience :: Developers",
+    "Intended Audience :: Education",
+    "Intended Audience :: Other Audience",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
+    "Operating System :: Unix",
+    "Programming Language :: C++",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+]
+dependencies = [
+    "natsort",
+    "numpy",
+    "plyfile",
+    "pydantic <2",
+    "pyquaternion",
+    "rich",
+    "tqdm",
+    "typer[all]>=0.6.0",
+]
+
+[project.optional-dependencies]
+all = [
+    "open3d>=0.13",
+    "ouster-sdk>=0.7.1",
+    "pyntcloud",
+    "PyYAML",
+    "trimesh",
+]
+visualizer = [
+    "open3d>=0.13",
 ]
-build-backend = "setuptools.build_meta"
+
+[project.scripts]
+kiss_icp_pipeline = "kiss_icp.tools.cmd:run"
+
+[project.urls]
+Homepage = "https://github.com/PRBonn/kiss-icp"
+
+[tool.scikit-build]
+build-dir = "build/{wheel_tag}"
+cmake.verbose = false
+cmake.minimum-version = "3.16"
+editable.mode = "redirect"
+editable.rebuild = true
+editable.verbose = true
+sdist.exclude = ["pybind/"]
+wheel.install-dir = "kiss_icp/pybind/"
 
 [tool.black]
 line-length = 100