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Fix missing dependencies on ci #544

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merged 4 commits into from
Jun 12, 2024
Merged

Fix missing dependencies on ci #544

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def1d13
Fix missing dependencies on CI
cybaol Jun 10, 2024
f59c24c
Fix extra errors
cybaol Jun 10, 2024
758e9c4
Fix missing fmt library
cybaol Jun 11, 2024
53e9a5b
tweak
strasdat Jun 12, 2024
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6 changes: 3 additions & 3 deletions .github/workflows/pybind.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ jobs:
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-20.04, macos-13]
os: [ubuntu-22.04, macos-13]
fail-fast: false

steps:
Expand All @@ -33,7 +33,7 @@ jobs:
sudo apt install -y libunwind-dev

# Generic dependencies
sudo apt-get install cmake
sudo apt-get install cmake libeigen3-dev libfmt-dev

# Clean APT cache
sudo apt-get clean
Expand All @@ -42,7 +42,7 @@ jobs:
# Install system deps with Homebrew
brew install cmake
# VRS dependencies
brew install fmt lz4 zstd xxhash
brew install eigen fmt lz4 zstd xxhash
else
echo "$RUNNER_OS not supported"
exit 1
Expand Down
5 changes: 4 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -111,6 +111,9 @@ endif()
# Build python sophus bindings
option(BUILD_PYTHON_BINDINGS "Build python sophus bindings." OFF)
if(BUILD_PYTHON_BINDINGS)
if(NOT TARGET fmt::fmt)
find_package(fmt REQUIRED)
endif()
include(FetchContent)
FetchContent_Declare(
pybind11
Expand All @@ -121,7 +124,7 @@ if(BUILD_PYTHON_BINDINGS)
add_subdirectory(${pybind11_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}/pybind)
pybind11_add_module(sophus_pybind
${CMAKE_CURRENT_SOURCE_DIR}/sophus_pybind/bindings.cpp)
target_link_libraries(sophus_pybind PUBLIC sophus)
target_link_libraries(sophus_pybind PUBLIC sophus fmt::fmt)
endif(BUILD_PYTHON_BINDINGS)

if(SOPHUS_INSTALL)
Expand Down
1 change: 0 additions & 1 deletion setup.py
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Expand Up @@ -43,7 +43,6 @@ def build_extension(self, ext):

cmake_args = [
"-DBUILD_PYTHON_BINDINGS=ON",
"-DBUILD_SOPHUS_EXAMPLES=OFF",
"-DBUILD_SOPHUS_TESTS=OFF",
]
build_args = []
Expand Down
2 changes: 2 additions & 0 deletions sophus/average.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@

#include <complex>

#include <Eigen/Eigenvalues>

#include "cartesian.hpp"
#include "common.hpp"
#include "rxso2.hpp"
Expand Down
20 changes: 10 additions & 10 deletions sophus_pybind/SE3PyBind.h
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Expand Up @@ -42,7 +42,7 @@ struct type_caster<Sophus::SE3<double>> {
PYBIND11_TYPE_CASTER(Sophus::SE3<double>, _("SE3"));

// converting from python -> c++ type
bool load(handle src, bool convert) {
bool load(handle src, bool /*convert*/) {
try {
Sophus::SE3Group<double>& ref = src.cast<Sophus::SE3Group<double>&>();
if (ref.size() != 1) {
Expand Down Expand Up @@ -103,7 +103,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,

SE3Group<Scalar> output;
output.reserve(matrices.shape(0));
for (size_t i = 0; i < matrices.shape(0); ++i) {
for (int i = 0; i < matrices.shape(0); ++i) {
Eigen::Map<const Eigen::Matrix<Scalar, 4, 4, Eigen::RowMajor>> mat(
matrices.data(i, 0, 0));
output.push_back(Sophus::SE3<Scalar>::fitToSE3(mat));
Expand All @@ -129,7 +129,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,

SE3Group<Scalar> output;
output.reserve(matrices.shape(0));
for (size_t i = 0; i < matrices.shape(0); ++i) {
for (int i = 0; i < matrices.shape(0); ++i) {
Eigen::Map<const Eigen::Matrix<Scalar, 3, 4, Eigen::RowMajor>> mat(
matrices.data(i, 0, 0));
output.push_back(Sophus::SE3<Scalar>(
Expand Down Expand Up @@ -161,7 +161,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
-> SE3Group<Scalar> {
SE3Group<Scalar> output;
output.reserve(rotvecs.rows());
for (size_t i = 0; i < rotvecs.rows(); ++i) {
for (int i = 0; i < rotvecs.rows(); ++i) {
auto tangentVec =
Eigen::Matrix<Scalar, 6, 1>{translational_parts(i, 0),
translational_parts(i, 1),
Expand Down Expand Up @@ -192,8 +192,8 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
[](const std::vector<Scalar>& x_vec,
const Eigen::Matrix<Scalar, -1, 3>& xyz_vec,
const Eigen::Matrix<Scalar, -1, 3>& translations) -> SE3Group<Scalar> {
if (x_vec.size() != xyz_vec.rows() ||
x_vec.size() != translations.rows()) {
if (int(x_vec.size()) != xyz_vec.rows() ||
int(x_vec.size()) != translations.rows()) {
throw std::domain_error(
fmt::format("Size of the input variables are not the same: x_vec "
"= {}, xyz_vec = {}, translation = {}",
Expand Down Expand Up @@ -413,7 +413,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
}

Eigen::Matrix<Scalar, 3, Eigen::Dynamic> result(3, matrix.cols());
for (size_t i = 0; i < matrix.cols(); ++i) {
for (int i = 0; i < matrix.cols(); ++i) {
result.col(i) = transformations[0] * matrix.col(i);
}
return result;
Expand Down Expand Up @@ -442,7 +442,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
SE3Group<Scalar> result;
for (const auto index : index_list) {
const auto intIndex = pybind11::cast<int>(index);
if (intIndex < 0 || intIndex >= se3Vec.size()) {
if (intIndex < 0 || intIndex >= int(se3Vec.size())) {
throw std::out_of_range("Index out of range");
}
result.push_back(se3Vec[intIndex]);
Expand All @@ -451,7 +451,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
} else if (pybind11::isinstance<pybind11::int_>(
index_or_slice_or_list)) {
int index = index_or_slice_or_list.cast<int>();
if (index < 0 || index >= se3Vec.size()) {
if (index < 0 || index >= int(se3Vec.size())) {
throw std::out_of_range("Index out of range");
}
return se3Vec[index];
Expand Down Expand Up @@ -499,7 +499,7 @@ PybindSE3Type<Scalar> exportSE3Transformation(pybind11::module& module,
}
} else if (pybind11::isinstance<pybind11::int_>(index_or_slice_or_list)) {
int index = index_or_slice_or_list.cast<int>();
if (index < 0 || index >= se3Vec.size()) {
if (index < 0 || index >= int(se3Vec.size())) {
throw std::out_of_range("Index out of range");
}
if (value.size() != 1) {
Expand Down
14 changes: 7 additions & 7 deletions sophus_pybind/SO3PyBind.h
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Expand Up @@ -92,7 +92,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
-> SO3Group<Scalar> {
SO3Group<Scalar> output;
output.reserve(rotvecs.rows());
for (size_t i = 0; i < rotvecs.rows(); ++i) {
for (int i = 0; i < rotvecs.rows(); ++i) {
output.emplace_back(Sophus::SO3<Scalar>::exp(rotvecs.row(i)));
}
return output;
Expand All @@ -113,7 +113,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
"from_quat",
[](const std::vector<Scalar>& x_vec,
const Eigen::Matrix<Scalar, -1, 3>& xyz_vec) -> SO3Group<Scalar> {
if (x_vec.size() != xyz_vec.rows()) {
if (int(x_vec.size()) != xyz_vec.rows()) {
throw std::runtime_error(fmt::format(
"Size of the real and imagery part is not the same: {} {}",
x_vec.size(), xyz_vec.rows()));
Expand Down Expand Up @@ -147,7 +147,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,

SO3Group<Scalar> output;
output.reserve(matrices.shape(0));
for (size_t i = 0; i < matrices.shape(0); ++i) {
for (int i = 0; i < matrices.shape(0); ++i) {
Eigen::Map<const Eigen::Matrix<Scalar, 3, 3, Eigen::RowMajor>> mat(
matrices.data(i, 0, 0));
output.push_back(Sophus::SO3<Scalar>::fitToSO3(mat));
Expand Down Expand Up @@ -298,7 +298,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
}

Eigen::Matrix<Scalar, 3, Eigen::Dynamic> result(3, matrix.cols());
for (size_t i = 0; i < matrix.cols(); ++i) {
for (int i = 0; i < matrix.cols(); ++i) {
result.col(i) = rotations[0] * matrix.col(i);
}
return result;
Expand Down Expand Up @@ -327,7 +327,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
SO3Group<Scalar> result;
for (const auto index : index_list) {
const auto intIndex = pybind11::cast<int>(index);
if (intIndex < 0 || intIndex >= so3Vec.size()) {
if (intIndex < 0 || intIndex >= int(so3Vec.size())) {
throw std::out_of_range("Index out of range");
}
result.push_back(so3Vec[intIndex]);
Expand All @@ -336,7 +336,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
} else if (pybind11::isinstance<pybind11::int_>(
index_or_slice_or_list)) {
int index = index_or_slice_or_list.cast<int>();
if (index < 0 || index >= so3Vec.size()) {
if (index < 0 || index >= int(so3Vec.size())) {
throw std::out_of_range("Index out of range");
}
return so3Vec[index];
Expand Down Expand Up @@ -384,7 +384,7 @@ PybindSO3Group<Scalar> exportSO3Group(pybind11::module& module,
}
} else if (pybind11::isinstance<pybind11::int_>(index_or_slice_or_list)) {
int index = index_or_slice_or_list.cast<int>();
if (index < 0 || index >= so3Vec.size()) {
if (index < 0 || index >= int(so3Vec.size())) {
throw std::out_of_range("Index out of range");
}
if (value.size() != 1) {
Expand Down
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