Feature/pypi

CMakeLists.txt

@@ -4,6 +4,7 @@ project(teaserpp VERSION 1.0.0)
 set(CMAKE_CXX_STANDARD 14)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules/" ${CMAKE_MODULE_PATH})
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # Check build types
 if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -12,6 +13,10 @@ if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
             STRING "Choose the type of build." FORCE)
 endif ()
 
+if (DEFINED SKBUILD)
+    message(STATUS "Building with Scikit-Build")
+endif ()
+
 # Options
 option(BUILD_TESTS "Build tests" ON)
 option(BUILD_TEASER_FPFH "Build TEASER++ wrappers for PCL FPFH estimation." OFF)

cmake/pybind11.CMakeLists.txt.in

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

pyproject.toml

@@ -0,0 +1,58 @@
+[build-system]
+requires = ["scikit_build_core", "pybind11"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "teaserpp_python"
+version = "1.1.0"
+description = "Python binding for TEASER++"
+readme = "README.md"
+authors = [
+    { name = "Jingnan Shi", email = "[email protected]" },
+]
+keywords = [
+    "Point cloud",
+    "Registration",
+    "Non-minimal solver",
+    "Solver",
+]
+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 :: 3.6",
+    "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",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+]
+dependencies = [
+    "numpy",
+]
+
+[project.urls]
+Homepage = "https://github.com/MIT-SPARK/TEASER-plusplus"
+
+[tool.scikit-build]
+build-dir = "build/{wheel_tag}"
+build.verbose = false
+cmake.version = ">=3.16"
+wheel.install-dir = "teaserpp_python.libs"
+
+[tool.cibuildwheel]
+archs = ["auto64"]
+skip = ["*-musllinux*",  "pp*", "cp36-*"]
+
+[tool.cibuildwheel.macos]
+environment = "MACOSX_DEPLOYMENT_TARGET=10.14"
+archs = ["auto64", "arm64"]

python/CMakeLists.txt

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 project(teaser_python_bindings)
 
@@ -24,10 +25,12 @@ endif ()
 
 # make sure to output the build file to teaserpp_python folder
 SET_TARGET_PROPERTIES(teaserpp_python
-        PROPERTIES
-        PREFIX ""
-        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
-        )
+    PROPERTIES
+    PREFIX ""
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/teaserpp_python"
+    INSTALL_RPATH "$ORIGIN/../teaserpp_python.libs/lib;$ORIGIN/../../teaser/"
+    BUILD_WITH_INSTALL_RPATH TRUE
+)
 
 # copy package __init__.py file
 configure_file(teaserpp_python/__init__.py
@@ -43,3 +46,13 @@ file(COPY .
         DESTINATION .
         FILES_MATCHING
         PATTERN *.py)
+
+if (DEFINED SKBUILD)
+    install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teaserpp/
+            DESTINATION "../teaserpp"
+            FILES_MATCHING PATTERN "*.py"
+            PATTERN "*.pyi"
+            PATTERN "*.so"
+    )
+    install(TARGETS teaserpp_python DESTINATION "../teaserpp_python")
+endif ()

python/teaserpp_python/teaserpp_python.cc

@@ -6,6 +6,7 @@
  * See LICENSE for the license information
  */
 
+#include <omp.h>
 #include <string>
 #include <sstream>
 
@@ -21,7 +22,7 @@ namespace py = pybind11;
 /**
  * Python interface with pybind11
  */
-PYBIND11_MODULE(teaserpp_python, m) {
+PYBIND11_MODULE(_teaserpp, m) {
   m.doc() = "Python binding for TEASER++";
 
   // Python bound for teaser::RegistrationSolution
@@ -41,14 +42,66 @@ PYBIND11_MODULE(teaserpp_python, m) {
         return print_string.str();
       });
 
+  m.attr("OMP_MAX_THREADS") = omp_get_max_threads();
+
+  // Python bound for teaser::RobustRegistrationSolver::ROTATION_ESTIMATE_ALGORITHM
+  py::enum_<teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM>(
+        m, "RotationEstimationAlgorithm"
+      )
+      .value("GNC_TLS", teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::GNC_TLS)
+      .value("FGR", teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::FGR)
+      .value("QUATRO", teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::QUATRO);
+
+  // Python bound for teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION
+  py::enum_<teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION>(
+        m, "InlierGraphFormulation"
+      )
+      .value("CHAIN", teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION::CHAIN)
+      .value("COMPLETE", teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION::COMPLETE);
+
+  // Python bound for teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE
+  py::enum_<teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE>(
+        m, "InlierSelectionMode"
+      )
+      .value("PMC_EXACT", teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_EXACT)
+      .value("PMC_HEU", teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_HEU)
+      .value("KCORE_HEU", teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::KCORE_HEU)
+      .value("NONE", teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::NONE);
+
+  // Python bound for DRSCertifier::EIG_SOLVER_TYPE
+  py::enum_<teaser::DRSCertifier::EIG_SOLVER_TYPE>(m, "EigSolverType")
+      .value("EIGEN", teaser::DRSCertifier::EIG_SOLVER_TYPE::EIGEN)
+      .value("SPECTRA", teaser::DRSCertifier::EIG_SOLVER_TYPE::SPECTRA);
+
   // Python bound for teaser::RobustRegistraionSolver
   py::class_<teaser::RobustRegistrationSolver> solver(m, "RobustRegistrationSolver");
 
   // Python bound for teaser::RobustRegistrationSolver functions
-  solver.def(py::init<>())
-      .def(py::init<const teaser::RobustRegistrationSolver::Params&>())
+  solver.def(py::init<double, double, bool,
+                    teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM,
+                    double, size_t, double,
+                    teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION,
+                    teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE,
+                    double, bool, bool,
+                    double, int>(),
+           py::arg("noise_bound") = 0.01,
+           py::arg("cbar2") = 1,
+           py::arg("estimate_scaling") = true,
+           py::arg("rotation_estimation_algorithm") =
+             teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::GNC_TLS,
+           py::arg("rotation_gnc_factor") = 1.4,
+           py::arg("rotation_max_iterations") = 100,
+           py::arg("rotation_cost_threshold") = 1e-6,
+           py::arg("rotation_tim_graph") =
+             teaser::RobustRegistrationSolver::INLIER_GRAPH_FORMULATION::CHAIN,
+           py::arg("inlier_selection_mode") =
+             teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_EXACT,
+           py::arg("kcore_heuristic_threshold") = 0.5,
+           py::arg("use_max_clique") = true,
+           py::arg("max_clique_exact_solution") = true,
+           py::arg("max_clique_time_limit") = 3000,
+           py::arg("max_clique_num_threads") = omp_get_max_threads())
       .def("getParams", &teaser::RobustRegistrationSolver::getParams)
-      .def("reset", &teaser::RobustRegistrationSolver::reset)
       .def("solve", py::overload_cast<const Eigen::Matrix<double, 3, Eigen::Dynamic>&,
                                       const Eigen::Matrix<double, 3, Eigen::Dynamic>&>(
                         &teaser::RobustRegistrationSolver::solve))

teaser/CMakeLists.txt

@@ -1,5 +1,11 @@
 project(teaser_source)
 include(GNUInstallDirs)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if (DEFINED SKBUILD)
+    set(CMAKE_INSTALL_RPATH "$ORIGIN")
+    set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+endif ()
 
 # teaser_io library
 add_library(teaser_io SHARED src/ply_io.cc)
@@ -9,6 +15,13 @@ target_include_directories(teaser_io PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 
+
+SET_TARGET_PROPERTIES(teaser_io
+    PROPERTIES
+    INSTALL_RPATH "$ORIGIN;$ORIGIN/../tinyply-build"
+    BUILD_WITH_INSTALL_RPATH TRUE
+)
+
 install(TARGETS teaser_io
         EXPORT teaserpp-export
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -23,6 +36,12 @@ add_library(teaser_registration SHARED
         src/registration.cc
         src/graph.cc
         )
+
+SET_TARGET_PROPERTIES(teaser_registration
+    PROPERTIES
+    INSTALL_RPATH "$ORIGIN;$ORIGIN/../pmc-build"
+    BUILD_WITH_INSTALL_RPATH TRUE
+)
 target_link_libraries(teaser_registration
         PUBLIC Eigen3::Eigen
         PRIVATE pmc ${TEASERPP_BLAS_LAPACK_LIBS}
@@ -88,11 +107,13 @@ endif ()
 set(TEASERPP_EXPORTED_TARGETS "${TEASERPP_EXPORTED_TARGETS}" PARENT_SCOPE)
 
 # installation
-install(EXPORT teaserpp-export 
+install(EXPORT teaserpp-export
     DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/teaserpp
     NAMESPACE teaserpp::
     FILE teaserppTargets.cmake
 )
 
-install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-install(DIRECTORY ${SPECTRA_INCLUDE_DIRS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+if (NOT DEFINED SKBUILD)
+  install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+  install(DIRECTORY ${SPECTRA_INCLUDE_DIRS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+endif ()

teaser/include/teaser/linalg.h

@@ -43,7 +43,7 @@ Eigen::Matrix<double, 3, 3> hatmap(const Eigen::Matrix<double, 3, 1>& u) {
 template <typename NumT, int N, int M>
 void vectorKron(const Eigen::Matrix<NumT, N, 1>& v1, const Eigen::Matrix<NumT, M, 1>& v2,
                 Eigen::Matrix<NumT, N * M, 1>* output) {
-#pragma omp parallel for collapse(2) shared(v1, v2, output) default(none)
+#pragma omp parallel for collapse(2) shared(v1, v2, output)
   for (size_t i = 0; i < N; ++i) {
     for (size_t j = 0; j < M; ++j) {
       (*output)[i * M + j] = v1[i] * v2[j];
@@ -62,7 +62,7 @@ template <typename NumT, int N, int M>
 Eigen::Matrix<NumT, Eigen::Dynamic, 1> vectorKron(const Eigen::Matrix<NumT, N, 1>& v1,
                                                   const Eigen::Matrix<NumT, M, 1>& v2) {
   Eigen::Matrix<double, Eigen::Dynamic, 1> output(v1.rows() * v2.rows(), 1);
-#pragma omp parallel for collapse(2) shared(v1, v2, output) default(none)
+#pragma omp parallel for collapse(2) shared(v1, v2, output)
   for (size_t i = 0; i < v1.rows(); ++i) {
     for (size_t j = 0; j < v2.rows(); ++j) {
       output[i * v2.rows() + j] = v1[i] * v2[j];