#223 Fixed building PYBINDS. Added github workflow.

.github/workflows/python-bindings-linux.yml

@@ -0,0 +1,60 @@
+name: Build Python Bindings on Linux
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        python-version: ["3.12"]
+
+    steps:
+      - name: Load repository cache
+        run: sudo apt-get update --allow-releaseinfo-change
+
+      - name: Install system libraries
+        run: sudo apt-get install -y --no-install-recommends libx11-dev libxi-dev libtbb-dev libegl1-mesa-dev libglu1-mesa-dev libopencv-dev
+
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Display Python version
+        run: python --version
+
+      - name: Install CMake 4.0
+        run: |
+          wget -O cmake.sh https://github.com/Kitware/CMake/releases/download/v4.0.0/cmake-4.0.0-linux-x86_64.sh
+          sudo sh cmake.sh --skip-license --prefix=/usr/local
+          cmake --version
+
+      - name: Configure CMake with Python bindings
+        run: |
+          cmake -B ${{github.workspace}}/build_pybind \
+            -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
+            -DPYBIND=ON
+
+      - name: Build Python bindings
+        run: cmake --build ${{github.workspace}}/build_pybind --target pybind_all --config ${{env.BUILD_TYPE}}
+
+      - name: Test Python imports
+        working-directory: ${{github.workspace}}/build_pybind/bin/${{env.BUILD_TYPE}}
+        run: |
+          python -c "import sys; sys.path.insert(0, '.'); import core_py; print('core_py imported successfully')"
+          python -c "import sys; sys.path.insert(0, '.'); import lidar_odometry_py; print('lidar_odometry_py imported successfully')"
+          python -c "import sys; sys.path.insert(0, '.'); import multi_view_tls_registration_py; print('multi_view_tls_registration_py imported successfully')"
+
+

.github/workflows/python-bindings-windows.yml

@@ -0,0 +1,56 @@
+name: Build Python Bindings on Windows
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        python-version: ["3.12"]
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Display Python version
+        run: python --version
+
+      - name: Install CMake 4.0 on Windows
+        run: |
+          choco install cmake --version=4.0.0 -y
+          refreshenv
+          cmake --version
+        shell: pwsh
+
+      - name: Configure CMake with Python bindings
+        run: |
+          cmake -B ${{github.workspace}}/build_pybind `
+            -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+            -DPYBIND=ON `
+        shell: pwsh
+
+      - name: Build Python bindings
+        run: cmake --build ${{github.workspace}}/build_pybind --target pybind_all --config ${{env.BUILD_TYPE}}
+
+      - name: Test Python imports
+        working-directory: ${{github.workspace}}/build_pybind/bin/${{env.BUILD_TYPE}}
+        run: |
+          python -c "import sys; sys.path.insert(0, '.'); import core_py; print('core_py imported successfully')"
+          python -c "import sys; sys.path.insert(0, '.'); import lidar_odometry_py; print('lidar_odometry_py imported successfully')"
+          python -c "import sys; sys.path.insert(0, '.'); import multi_view_tls_registration_py; print('multi_view_tls_registration_py imported successfully')"
+        shell: pwsh
+

.gitignore

@@ -68,3 +68,4 @@ imgui.ini
 /out/install/x64-Release/bin
 /out/install/x64-Release
 /out_old/install
+

apps/lidar_odometry_step_1/lidar_odometry_utils.h

@@ -21,7 +21,9 @@
 #include <python-scripts/constraints/constraint_fixed_parameter_jacobian.h>
 #include <common/include/cauchy.h>
 #include <python-scripts/point-to-feature-metrics/point_to_line_tait_bryan_wc_jacobian.h>
+#if WITH_GUI == 1
 #include <imgui.h>
+#endif
 
 namespace fs = std::filesystem;
 
@@ -134,7 +136,9 @@ struct LidarOdometryParams
     double total_length_of_calculated_trajectory = 0.0;
     NDTBucketMapType buckets_indoor;
     NDTBucketMapType buckets_outdoor;
+#if WITH_GUI == 1
     ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);
+#endif
 
     bool use_removie_imu_bias_from_first_stationary_scan = false;
 

apps/lidar_odometry_step_1/toml_io.cpp

@@ -13,12 +13,17 @@ bool TomlIO::SaveParametersToTomlFile(const std::string &filepath, LidarOdometry
             if (attribute == "in_out_params_indoor" || attribute == "in_out_params_outdoor")
                 continue;
 
+#if WITH_GUI == 1
             if (attribute == "clear_color")
             {
                 const ImVec4& c = params.clear_color;
                 cat_tbl.insert(attribute, toml::array{ c.x, c.y, c.z, c.w });
                 continue;
             }
+#else
+            if (attribute == "clear_color")
+                continue; // Skip GUI-only parameter when building without GUI
+#endif
 
             // Check if it's a motion_model_correction parameter
             auto motion_it = MOTION_MODEL_CORRECTION_POINTERS.find(attribute);
@@ -188,6 +193,7 @@ bool TomlIO::LoadParametersFromTomlFile(const std::string &filepath, LidarOdomet
                         } }, it->second);
         }
 
+#if WITH_GUI == 1
         if (cat_tbl && cat_tbl->contains("clear_color"))
         {
             auto arr = cat_tbl->at("clear_color").as_array();
@@ -199,6 +205,7 @@ bool TomlIO::LoadParametersFromTomlFile(const std::string &filepath, LidarOdomet
                 params.clear_color.w = static_cast<float>(arr->at(3).as_floating_point()->get());
             }
         }
+#endif
     }
     read_grid_params(params.in_out_params_indoor, tbl["in_out_params_indoor"].as_table());
     read_grid_params(params.in_out_params_outdoor, tbl["in_out_params_outdoor"].as_table());

pybind/CMakeLists.txt

@@ -45,6 +45,11 @@ if (MSVC)
     target_compile_options(multi_view_tls_registration_py PRIVATE /bigobj)
 endif()
 
+add_custom_target(pybind_all
+    DEPENDS core_py lidar_odometry_py multi_view_tls_registration_py
+    COMMENT "Building all Python bindings"
+)
+
 target_sources(core_py
     PRIVATE
         ${CMAKE_SOURCE_DIR}/core/src/session.cpp
@@ -134,33 +139,55 @@ if(WIN32)
     set_target_properties(lidar_odometry_py PROPERTIES SUFFIX ".pyd")
     set_target_properties(multi_view_tls_registration_py PROPERTIES SUFFIX ".pyd")
 else()
-    set_target_properties(core_py PROPERTIES SUFFIX ".so")
-    set_target_properties(lidar_odometry_py PROPERTIES SUFFIX ".so")
-    set_target_properties(multi_view_tls_registration_py PROPERTIES SUFFIX ".so")
+    set_target_properties(core_py PROPERTIES 
+        PREFIX ""
+        SUFFIX ".so")
+    set_target_properties(lidar_odometry_py PROPERTIES 
+        PREFIX ""
+        SUFFIX ".so")
+    set_target_properties(multi_view_tls_registration_py PROPERTIES 
+        PREFIX ""
+        SUFFIX ".so")
 endif()
 
 set_target_properties(core_py PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
-    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
 )
 
 set_target_properties(lidar_odometry_py PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
-    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
 )
 
 set_target_properties(multi_view_tls_registration_py PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
-    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/pybind"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
 )
 
-set(DLL_SOURCE_DIR "${CMAKE_BINARY_DIR}/bin/Release")
-set(DLL_DEST_DIR "${CMAKE_SOURCE_DIR}/pybind/Release")
-
-file(GLOB DLL_FILES "${CMAKE_BINARY_DIR}/bin/Release/*.dll")
-foreach(DLL ${DLL_FILES})
+if(WIN32)
+    add_custom_command(
+        TARGET core_py
+        POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_RUNTIME_DLLS:core_py>
+                "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+        COMMAND_EXPAND_LISTS
+    )
+
+    add_custom_command(
+        TARGET lidar_odometry_py
+        POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_RUNTIME_DLLS:lidar_odometry_py>
+                "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+        COMMAND_EXPAND_LISTS
+    )
+
     add_custom_command(
-        TARGET lidar_odometry_py POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E copy_if_different ${DLL} "${CMAKE_SOURCE_DIR}/pybind/Release"
+        TARGET multi_view_tls_registration_py
+        POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_RUNTIME_DLLS:multi_view_tls_registration_py>
+                "${CMAKE_BINARY_DIR}/bin/$<CONFIG>"
+        COMMAND_EXPAND_LISTS
     )
-endforeach()
+endif()
+

pybind/core_binding.cpp

@@ -25,12 +25,14 @@ PYBIND11_MODULE(core_py, m) {
     // Bind WorkerData
     py::class_<WorkerData>(m, "WorkerData")
         .def(py::init<>())
-        .def_readwrite("intermediate_points", &WorkerData::intermediate_points)
-        .def_readwrite("original_points", &WorkerData::original_points)
+        .def_readwrite("intermediate_points_cache_file_name", &WorkerData::intermediate_points_cache_file_name)
+        .def_readwrite("original_points_cache_file_name", &WorkerData::original_points_cache_file_name)
+        .def_readwrite("original_points_to_save_cache_file_name", &WorkerData::original_points_to_save_cache_file_name)
         .def_readwrite("intermediate_trajectory", &WorkerData::intermediate_trajectory)
         .def_readwrite("intermediate_trajectory_motion_model", &WorkerData::intermediate_trajectory_motion_model)
         .def_readwrite("intermediate_trajectory_timestamps", &WorkerData::intermediate_trajectory_timestamps)
         .def_readwrite("imu_om_fi_ka", &WorkerData::imu_om_fi_ka)
+        .def_readwrite("show", &WorkerData::show)
         ;
 
     // Bind Session

pybind/tls_registration_binding.cpp

@@ -88,15 +88,15 @@ PYBIND11_MODULE(multi_view_tls_registration_py, m) {
 
     py::class_<ICP>(m, "ICP")
         .def(py::init<>())
-        .def_readwrite("search_radious", &ICP::search_radious)
+        .def_readwrite("search_radius", &ICP::search_radius)
         .def_readwrite("number_of_threads", &ICP::number_of_threads)
         .def_readwrite("number_of_iterations", &ICP::number_of_iterations)
         .def_readwrite("is_adaptive_robust_kernel", &ICP::is_adaptive_robust_kernel)
         .def_readwrite("is_gauss_newton", &ICP::is_gauss_newton);
 
     py::class_<RegistrationPlaneFeature>(m, "RegistrationPlaneFeature")
         .def(py::init<>())
-        .def_readwrite("search_radious", &RegistrationPlaneFeature::search_radious)
+        .def_readwrite("search_radius", &RegistrationPlaneFeature::search_radius)
         .def_readwrite("number_of_threads", &RegistrationPlaneFeature::number_of_threads)
         .def_readwrite("number_of_iterations", &RegistrationPlaneFeature::number_of_iterations)
         .def_readwrite("is_adaptive_robust_kernel", &RegistrationPlaneFeature::is_adaptive_robust_kernel);
@@ -105,7 +105,7 @@ PYBIND11_MODULE(multi_view_tls_registration_py, m) {
         .def(py::init<>())
         .def_readwrite("overlap_threshold", &PoseGraphSLAM::overlap_threshold)
         .def_readwrite("iterations", &PoseGraphSLAM::iterations)
-        .def_readwrite("search_radious", &PoseGraphSLAM::search_radious);
+        .def_readwrite("search_radius", &PoseGraphSLAM::search_radius);
 
     py::class_<GNSS::GlobalPose>(m, "GlobalPose")
         .def(py::init<>())