Merge branch 'develop'

.github/build-manylinux-wheels

@@ -0,0 +1,44 @@
+#!/bin/bash
+
+set -euo pipefail
+
+BOOST_VERSION=1.79.0
+BOOST_ROOT="/boost"
+
+root="$(dirname "$0")/.."
+
+# Only works on manylinux2014+
+yum install -y cmake3 metis-devel wget
+
+# Manually build Boost for easier control of versioning / linking
+BOOST_VERSION_US="$(echo "$BOOST_VERSION" | tr '.' '_')"
+BOOST_DIR="/boost_$BOOST_VERSION_US"
+wget -qO- "$(printf "%s%s%s%s" \
+  "https://boostorg.jfrog.io/artifactory/main/release/" \
+  "$BOOST_VERSION" "/source/boost_" "$BOOST_VERSION_US" ".tar.bz2")" | \
+  tar --bzip2 -x
+pushd "$BOOST_DIR"
+./bootstrap.sh --prefix="$BOOST_ROOT"
+./b2 install || true
+popd
+
+# Apply our hacks to get it to build...
+sed -i 's/ \(find_package(Python3\)/#\1/' "$root/gtsam/cmake/HandlePython.cmake"
+
+# Build each of our wheels
+pushd /io/
+for PYROOT in /opt/python/cp*; do
+  export Python3_EXECUTABLE="$PYROOT/bin/python"
+  export Python3_INCLUDE_DIR="$(find "$PYROOT/include/" \
+    -mindepth 1 -maxdepth 1 -type d)"
+  "$Python3_EXECUTABLE" -m build
+done
+
+# Bundle shared libraries (aka Boost) into each of our wheels to make them
+# manylinux compatible
+for w in /io/dist/*linux_x86_64.whl; do
+  auditwheel repair --plat "$PLAT" -w /io/dist/ "$w" 
+done
+
+# Undo our hacks
+sed -i 's/#\(find_package(Python3\)/ \1/' "$root/gtsam/cmake/HandlePython.cmake"

CMakeLists.txt

@@ -1,7 +1,6 @@
 project(gtsam_quadrics)
-cmake_minimum_required(VERSION 3.0)
-set(GTSAM_QUADRICS_VERSION 1.0.0)
-
+cmake_minimum_required(VERSION 3.18)
+set(GTSAM_QUADRICS_VERSION 0.1.2)
 
 # we want to use some C++11 features
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
@@ -16,6 +15,15 @@ set(PYTHON_VERSION "3" CACHE STRING "The version of python to build the cython w
 if (BUILD_PYTHON_WRAP)
   set(GTSAM_BUILD_PYTHON ON CACHE BOOL "")
   set(GTSAM_CONFIG_TEMPLATE_PATH ${CMAKE_SOURCE_DIR}/gtsam/cmake)
+
+  # Allow overriding Python choices for environments like manylinux...
+  if (DEFINED ENV{Python3_EXECUTABLE})
+    set(Python3_EXECUTABLE "$ENV{Python3_EXECUTABLE}")
+  endif()
+  if (DEFINED ENV{Python3_INCLUDE_DIR})
+    set(Python3_INCLUDE_DIR "$ENV{Python3_INCLUDE_DIR}")
+  endif()
+  find_package(Python3 COMPONENTS Interpreter Development.Module)
 endif()
 set(GTSAM_BUILD_UNSTABLE OFF CACHE BOOL "")
 add_subdirectory(./gtsam)

README.md

@@ -34,7 +34,7 @@ Please note that for all methods except the Conda method, you must have the foll
 
 - A C++ compiler: e.g. `sudo apt install build-essential`
 - CMake >= 3.0: `sudo apt install cmake`
-- Boost C++ libraries >= 1.43: `sudo apt install libboost-all-dev`
+- Boost C++ libraries >= 1.65: `sudo apt install libboost-all-dev`
 - METIS matrix library: `sudo apt install libmetis-dev` <!-- in future, automatically get from gtsam/3rdparty, required when including gtsam/Symbol.h etc, maybe we just need to update some path? -->
 
 ### Conda

gtsam_quadrics/geometry/BoundingBoxFactor.cpp

@@ -21,6 +21,8 @@
 #include <gtsam_quadrics/geometry/BoundingBoxFactor.h>
 #include <gtsam_quadrics/geometry/QuadricCamera.h>
 
+#include <boost/bind/bind.hpp>
+
 #define NUMERICAL_DERIVATIVE false
 
 using namespace std;
@@ -78,7 +80,8 @@ gtsam::Vector BoundingBoxFactor::evaluateError(
     if (NUMERICAL_DERIVATIVE) {
       std::function<gtsam::Vector(const gtsam::Pose3&,
                                   const ConstrainedDualQuadric&)>
-          funPtr(boost::bind(&BoundingBoxFactor::evaluateError, this, _1, _2,
+          funPtr(boost::bind(&BoundingBoxFactor::evaluateError, this,
+                             boost::placeholders::_1, boost::placeholders::_2,
                              boost::none, boost::none));
       if (H1) {
         Eigen::Matrix<double, 4, 6> db_dx_ =

gtsam_quadrics/geometry/QuadricAngleFactor.cpp

@@ -19,6 +19,8 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam_quadrics/geometry/QuadricAngleFactor.h>
 
+#include <boost/bind/bind.hpp>
+
 #define NUMERICAL_DERIVATIVE false
 
 using namespace std;
@@ -35,7 +37,8 @@ gtsam::Vector QuadricAngleFactor::evaluateError(
   // Rot3::LocalCoordinates(quadric.pose().rotation());
 
   std::function<gtsam::Vector(const ConstrainedDualQuadric&)> funPtr(
-      boost::bind(&QuadricAngleFactor::evaluateError, this, _1, boost::none));
+      boost::bind(&QuadricAngleFactor::evaluateError, this,
+                  boost::placeholders::_1, boost::none));
   if (H) {
     Eigen::Matrix<double, 3, 9> de_dr =
         gtsam::numericalDerivative11(funPtr, quadric, 1e-6);

setup.py

@@ -52,7 +52,7 @@ def build_cmake(self, exts):
     long_description = f.read()
 
 setup(name='gtsam_quadrics',
-      version='0.1.1',
+      version='0.1.3',
       author='Lachlan Nicholson',
       author_email='[email protected]',
       maintainer='Ben Talbot',