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RainerKuemmerle / g2o

g2o: A General Framework for Graph Optimization
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Python wrapper released #626

Open miquelmassot opened 1 year ago

miquelmassot commented 1 year ago

Hi g2o team,

I've been following your recent work in the python wrapper and I'm trying to get a Pypi release version going. I've started a wrapper repository called g2o-python with the same spirit as opencv-python is to OpenCV.

So far, I've been able to generate a successful release onto Pypi, but I am interested in getting more hands on it, especially for non-Unix platforms. Are you interested in working towards this?

RainerKuemmerle commented 1 year ago

Thank you for looking into this. I have to say that I only have a Linux machine and thus I only build the pymem branch on Linux. If you could point out issues to address for getting the python wrapper on non-Unix, I'd be happy to contribute. I guess, one thing to start with would be to get some CI going on that branch - maybe also checking other OS?

miquelmassot commented 1 year ago

@RainerKuemmerle I've started building wheels for manylinux, win and macos - but I have had limited time to try them. So far, I can say that I've also been able to build it locally from source and install it successfully, but I need to try/test the wheel distribution.

This is the CI for uploading source distribution and wheels to Pypi: https://github.com/miquelmassot/g2o-python/blob/main/.github/workflows/wheels.yml

And this is a PR to conda-forge to add it to their repo base, which is not yet working well. https://github.com/conda-forge/staged-recipes/pull/21748

I've had to make changes to the main CMakeLists.txt in g2o to make it compatible with how pybind11 & packages work, due to currently being a source built. These lines https://github.com/miquelmassot/g2o-python/blob/main/setup.py#L19-L48 fix the issue.

RainerKuemmerle commented 1 year ago

I was thinking about dropping the lines about moving to lib/bin. It's not working nicely with having build folders. Installing g2opy seems anyhow a good idea on this branch.

miquelmassot commented 1 year ago

I've successfully tested it on Windows and Linux with the prebuilt wheels and it's working fine. I'm going to release now version 0.0.8 with the merged PR.

Just a note, to import the library, I need to do 

from g2opy import g2opy as g2o

as I have not been able to change the import to a simpler one like import g2opy as g2o, if anyone has any solution for this I'd like to know.

I've also got a repository that I'd like to fill with examples. There's only a 2D SLAM example now. https://github.com/miquelmassot/g2o-python-examples

RainerKuemmerle commented 1 year ago

Is this the g2opy folder in your wrapper? I did myself not look into packaging with pybind but its example does not have the module with init.py, see https://github.com/pybind/cmake_example