Cannot compile sophus_pybind in Ubuntu 20.04

[edubya]

Issue

I can't seem to compile sophus_pybind module in Ubuntu 20.04 without setting the following compiler flags:

-Wno-error=unused-parameter
-Wno-error=sign-compare
-Wno-error=maybe-uninitialized

To Reproduce

1. Clone repo into clean ubuntu-20.04 install (or using docker Dockerfile and build script below)
2. Do any of the following: pip install . or python setup.py install or mkdir build && cd build && cmake .. -DBUILD_PYTHON_BINDINGS=ON && make

Expected behavior

sophus_pybind module compiles and can be used in Python.

Sophus version: commit hash

d270df2

Additional context

-Werror=unused-parameter is caused by small typo in line 47 of SE3PyBind.h, which should be bool load(handle src, bool) {. See also SO3PyBind.h.

-Wno-error=maybe-uninitialized are thrown by Eigen 3.4.0 code. Since these errors go away after removing the -O3 flag from CMAKE_CXX_FLAGS_RELEASE in CMakeLists.txt the warnings are likely wrong. Maybe different optimization flags need to be set.

-Werror=sign-compare are all caused by comparisons of size_t integers to Eigen::Index in every for loop in SO3PyBind.h and SE3PyBind.h. For example:

SO3PyBind.h:89:30: error: comparison of integer expressions of different signedness: 'size_t' {aka 'long unsigned int'} and 'Eigen::Index' {aka 'long int'} [-Werror=sign-compare]
   89 |         for (size_t i = 0; i < rotvecs.rows(); ++i) {

Docker

After cloning Sophus into local directory Sophus, build new docker image using:

Dockerfile

FROM ubuntu:20.04 as base
ENV DEBIAN_FRONTEND="noninteractive" TZ="America/New_York"
WORKDIR /build

ADD ./setup_docker.sh /build
ADD ./Sophus /build/Sophus
RUN /bin/bash -e /build/setup_docker.sh

setup_docker.sh

#!/bin/bash

apt-get update -y
apt-get upgrade
# apt install -y libunwind-dev
apt-get install cmake git -y

apt-get install libpython3-dev python3-pip -y
pip3 install numpy pytest

apt-get install gfortran libc++-dev libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev libceres-dev ccache

git config --global advice.detachedHead false
git clone --branch 3.4.0 https://gitlab.com/libeigen/eigen.git
cd eigen && mkdir build && cd build && cmake ..
make
make install

cd ../..
git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
cd ceres-solver
mkdir build
cd build
ccache -s
cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ..
make -j8
make install

git clone https://github.com/fmtlib/fmt.git
cd fmt
#git checkout 5.3.0
mkdir build
cd build
cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ..
make -j8
make install

cd ../../Sophus
python setup.py install --verbose

[strasdat]

Yeah, it seems like the CI action is broken and possibly never worked since it was configured for the "main" branch, though the default branch used to be called "main-1.x" until today. Unfortunately I overlooked that when merging #522.

Now we do have failing CI:

https://github.com/strasdat/Sophus/actions/runs/9434646626

[strasdat]

I'm not a user of the py-bindings and overall have very little knowledge of this are of the repository, possibly @chpeng-fb can help, who is the author of #522.

Overall, a good first step would be to repair the CI action (but not necessarily have it pass), or maybe just get more minimal pybind CI job in place. @edubya or @chpeng-fb , could you help with that?

Once, we have running CI, I can hopefully help with c++ / build flags related errors.

[chpeng-fb]

@edubya Thank you for reporting the issue and pin point the issue. I will fix this issue soon.

[strasdat]

@chpeng-fb, I just merged a larger maintenance PR #538. It should not have significant impact on the py-bindings but if it does or you have any other questions, please reach out!

[chpeng-fb]

Thank you for the update. I will test my fix again after your merge.

[strasdat]

Thanks to @cybaol, CI is fixed, as well as the original issue.