Update CMake and setuptools logic for the Python bindings

.github/workflows/ci.yml

@@ -208,18 +208,18 @@ jobs:
         working-directory: ${{runner.workspace}}/build
         run: make test
 
-  pybind11:
+  pybind11-pip:
     needs: [build-ubuntu, build-mac]
     strategy:
       fail-fast: false
       matrix:
         platform: [macos-latest, ubuntu-latest] #windows-latest,
-        # python-version: [3.5, 3.6, 3.7, 3.8]
-        python-version: [3.6]
+        python-version: [3.6, 3.7, 3.8, 3.9]
     runs-on: ${{ matrix.platform }}
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v2
         with:
@@ -235,12 +235,46 @@ jobs:
       - name: Setup
         run: |
           python -m pip install --upgrade pip
-          pip install pytest "pybind11[global]"
-          pip install -r requirements.txt
+          python -m pip install build
       - name: Build
-        run: pip install .
+        run: python -m pip install -v .[testing]
       - name: Test
-        run: pytest
+        run: python -m pytest
+
+  pybind11-cmake:
+    needs: [build-ubuntu, build-mac]
+    # strategy:
+    #   fail-fast: false
+    #   matrix:
+    #     python-version: [3.9]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
+      # - name: Set up Python ${{ matrix.python-version }}
+      #   uses: actions/setup-python@v2
+      #   with:
+      #     python-version: ${{ matrix.python-version }}
+      - name: Setup apt
+        run: |
+          sudo apt update
+          sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy
+          mkdir ${{runner.workspace}}/build
+      - name: Configure
+        working-directory: ${{runner.workspace}}/build
+        run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release
+      - name: Build
+        working-directory: ${{runner.workspace}}/build
+        run: make -j2
+      - name: Test
+        working-directory: ${{runner.workspace}}/build
+        run: make test
+      - name: Install
+        working-directory: ${{runner.workspace}}/build
+        run: sudo make install
+      - name: Test Import
+        run: python3 -c 'import manifpy'
 
   # arm64:
   #   needs: [build-ubuntu]

.github/workflows/release.yml

@@ -0,0 +1,72 @@
+name: release
+on:
+  push:
+    tags:
+      - '*'
+  pull_request:
+    branches:
+      - devel # master only when ready
+      - master
+  workflow_dispatch:
+
+jobs:
+
+  build-sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - run: git fetch --prune --unshallow
+
+      - name: Install Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.6
+
+      - name: Setup apt
+        run: |
+          sudo apt update
+          sudo apt install -y libeigen3-dev
+
+      - name: Setup
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install build
+
+      - name: Build sdist
+        run: python3 -m build --sdist -o dist/
+
+      - name: Build wheel
+        run: python3 -m build --wheel -o dist/
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: dist
+          path: dist/*
+          # path: |
+          #   path/*.whl
+          #   path/*.tar.gz
+
+  upload_pypi:
+    needs: build-sdist
+    runs-on: ubuntu-latest
+    steps:
+
+      - uses: actions/download-artifact@v2
+        with:
+          name: dist
+          path: dist
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      # @todo: see https://github.com/diegoferigo/manif/pull/1#discussion_r668531581
+      # - uses: pypa/gh-action-pypi-publish@master
+      #   if: |
+      #     github.repository == 'artivis/manif' &&
+      #     ((github.event_name == 'release' && github.event.action == 'published') ||
+      #      (github.event_name == 'push' && github.ref == 'refs/heads/main'))
+      #   with:
+      #     user: __token__
+      #     password: ${{ secrets.PYPI_TOKEN }}

.gitignore

@@ -15,3 +15,4 @@ docs/m.css
 *.so
 *__pycache__
 .pytest_cache
+dist

CONTRIBUTING.md

@@ -42,8 +42,7 @@ Let's install all dependencies for development and testing,
 
 ```terminal
 apt install libeigen3-dev
-python3 -m pip install "pybind11[global]" pytest
-python3 -m pip install -r requirements
+python3 -m pip install "pybind11[global]" pytest numpy
 ```
 
 We can now build **manif**, its Python wrappers and all tests,

docs/pages/python/Quick-start.md

@@ -1,14 +1,29 @@
 # Quick start
 
 - [Quick start](#quick-start)
-  - [Getting Pybind11](#getting-pybind11)
-  - [Installation](#installation)
-    - [Dependencies](#dependencies)
+  - [Installing manifpy](#installing-manifpy)
+    - [From conda](#from-conda)
     - [From source](#from-source)
+      - [Getting Pybind11](#getting-pybind11)
+      - [Getting the dependencies](#getting-the-dependencies)
+      - [Building](#building)
+      - [Testing](#testing)
   - [Use manifpy in your project](#use-manifpy-in-your-project)
   - [Tutorials and application demos](#tutorials-and-application-demos)
 
-## Getting Pybind11
+## Installing manifpy
+
+### From conda
+
+`manifpy` can be installed from the [conda-forge][conda-manifpy],
+
+```bash
+conda install -c conda-forge manifpy
+```
+
+### From source
+
+#### Getting Pybind11
 
 The Python wrappers are generated using [pybind11][pybind11-rtd]. So first we need to install it,
 but we want it available directly in our environment root so that `CMake` can find it.
@@ -30,9 +45,9 @@ cmake ..
 make install
 ```
 
-## Installation
+<!-- ## Installation -->
 
-### Dependencies
+#### Getting the dependencies
 
 - Eigen 3 :
   - Linux ( Ubuntu and similar )
@@ -49,13 +64,7 @@ make install
 
 - [lt::optional][optional-repo] : included in the `external` folder
 
-Python bindings also depends on `numpy`.
-
-```bash
-python3 -m pip install -r requirements
-```
-
-### From source
+#### Building
 
 To generate `manif` Python bindings run,
 
@@ -65,6 +74,20 @@ cd manif
 python3 -m pip install .
 ```
 
+#### Testing
+
+To run the tests you will also need `numpy`,
+
+```bash
+python3 -m pip install numpy
+```
+
+To run the tests, simply hits:
+
+```bash
+python3 -m pytest
+```
+
 ## Use manifpy in your project
 
 ```python
@@ -101,3 +124,4 @@ python3 se2_localization.py
 
 [pybind11-rtd]: https://pybind11.readthedocs.io/en/stable/index.html
 [optional-repo]: https://github.com/TartanLlama/optional
+[conda-manifpy]: https://anaconda.org/conda-forge/manifpy

docs/pages/python/index.rst

@@ -8,30 +8,6 @@ Quick start
 .. contents:: Table of Contents
     :depth: 3
 
-
-Getting Pybind11
-----------------
-
-The Python wrappers are generated using `pybind11 <https://pybind11.readthedocs.io/en/stable/index.html>`_. So first we need to install it,
-but we want it available directly in our environment root so that ``CMake`` can find it.
-To do so we can use,
-
-.. code-block:: bash
-
-   python3 -m pip install "pybind11[global]"
-
-Note that this is not recommended when using one's system Python,
-as it will add files to ``/usr/local/include/pybind11`` and ``/usr/local/share/cmake/pybind11``.
-
-Another way is to use ``CMake`` to install it,
-
-.. code-block:: bash
-
-   git clone https://github.com/pybind/pybind11.git
-   cd pybind11 && mkdir build && cd build
-   cmake ..
-   make install
-
 Installation
 ------------
 
@@ -60,11 +36,6 @@ Dependencies
 *
   `lt::optional <https://github.com/TartanLlama/optional>`_ : included in the ``external`` folder
 
-Python bindings also depends on ``numpy``.
-
-.. code-block:: bash
-
-   python3 -m pip install -r requirements
 
 From source
 ^^^^^^^^^^^

pyproject.toml

@@ -0,0 +1,14 @@
+[build-system]
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.0",
+    "ninja",
+    "cmake>=3.18.2",
+    "cmake-build-extension",
+    "pybind11",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"

python/CMakeLists.txt

@@ -1,5 +1,5 @@
 set(PYBIND11_CPP_STANDARD -std=c++11)
-pybind11_add_module(manifpy
+pybind11_add_module(manifpy MODULE
   bindings_rn.cpp
   bindings_so2.cpp
   bindings_so3.cpp
@@ -17,3 +17,51 @@ target_compile_definitions(manifpy PRIVATE EIGEN_DEFAULT_TO_ROW_MAJOR)
 set_property(TARGET manifpy PROPERTY CXX_STANDARD 11)
 set_property(TARGET manifpy PROPERTY CXX_STANDARD_REQUIRED ON)
 set_property(TARGET manifpy PROPERTY CXX_EXTENSIONS OFF)
+
+if (CALL_FROM_SETUP_PY)
+  # cmake-build-extension sets the full absolute path as CMAKE_INSTALL_PREFIX.
+  set(MANIFPY_INSTDIR "${CMAKE_INSTALL_PREFIX}")
+else()
+  # 'distutils.sysconfig.get_python_lib' returns the absolute path of Python
+  # by default a global location managed by the distro e.g. /usr/lib/python.
+  #
+  # pybind11 and FindPython3 set respectively PYTHON_SITE_PACKAGES/Python3_SITELIB
+  # from 'distutils.sysconfig.get_python_lib'
+  #
+  # Those are especially annoying on Ubuntu since it has
+  # some hardcoded paths in python3.x/site.py
+  #
+  # `sysconfig.get_path` may return paths that does not even exists.
+  #
+  # So below we retrieve the first site-package path from 'site.getsitepackages()'.
+
+  execute_process(
+    COMMAND
+    ${PYTHON_EXECUTABLE} -c "import site; print(site.getsitepackages()[0])"
+    OUTPUT_VARIABLE _PYTHON_SITE_PACKAGE OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  set(MANIFPY_INSTDIR "${_PYTHON_SITE_PACKAGE}/manifpy")
+endif()
+
+message(STATUS "Installing manifpy in ${MANIFPY_INSTDIR}")
+
+# Setup installation path
+install(TARGETS manifpy COMPONENT python DESTINATION "${MANIFPY_INSTDIR}")
+
+# Create the Python package in the build tree for testing purposes
+set(MANIFPY_BUILDDIR "${CMAKE_BINARY_DIR}/manifpy")
+set_target_properties(
+  manifpy PROPERTIES
+  OUTPUT_NAME _bindings
+  LIBRARY_OUTPUT_DIRECTORY "${MANIFPY_BUILDDIR}")
+
+# Create the __init__.py file
+file(
+  GENERATE
+  OUTPUT "${MANIFPY_BUILDDIR}/__init__.py"
+  CONTENT "from manifpy._bindings import *\n")
+
+# Install the __init__.py file
+install(
+  FILES "${MANIFPY_BUILDDIR}/__init__.py"
+  DESTINATION ${MANIFPY_INSTDIR})

python/bindings_manif.cpp

@@ -10,7 +10,7 @@ void wrap_SE3(pybind11::module &m);
 
 void wrap_SE_2_3(pybind11::module &m);
 
-PYBIND11_MODULE(manifpy, m) {
+PYBIND11_MODULE(_bindings, m) {
   m.doc() = "Python bindings for the manif library, "
             "a small library for Lie theory.";