Feat: add python bindings

.github/workflows/build_wheels.yml

@@ -0,0 +1,77 @@
+name: Build Wheels
+
+permissions:
+  contents: "write"
+  id-token: "write"
+
+on:
+  push:
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [macos-latest, ubuntu-latest]
+        python-version: ['3.8', '3.9', '3.10', '3.11', '3.12', '3.13']
+
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install build dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install cmeel[build]
+        pip install build 
+
+    - name: Build wheels
+      env:
+        CIBW_BEFORE_BUILD: |
+          bash scripts/install_deps.sh
+          bash scripts/build_ffmpeg.sh
+        CIBW_BUILD: "cp3*-*"
+        CIBW_SKIP: "pp* *-win32 *-win_amd64"
+      run: |
+        cmake --version
+        bash scripts/install_deps.sh
+        bash scripts/build_ffmpeg.sh
+        python -m build --wheel
+
+  release:
+    needs: build_wheels
+    runs-on: ubuntu-latest
+    steps:
+    - name: Create release
+      id: create_release
+      uses: actions/create-release@v1
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # This token is provided by Actions, you do not need to create your own token
+      with:
+        tag_name: ${{ github.ref }}
+        release_name: Release ${{ github.ref }}
+        body: |
+          Changes in this Release
+          - First release
+        draft: true
+        prerelease: false
+    - name: Upload release asset
+      uses: actions/upload-release-asset@v1
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        upload_url: ${{ steps.create_release.outputs.upload_url }}
+        asset_path: ./dist/spatialmp4-*.whl
+        asset_name: spatialmp4-*.whl
+        asset_content_type: application/zip

.gitignore

@@ -37,13 +37,29 @@
 
 tmp*
 build/*
+build-editable/*
 
 # ffmpeg build
 scripts/build_ffmpeg
 
-# python
+# python venv
 .venv
-pyc
+*.pyc
+
+# cibuildwheel
+wheelhouse
 
 # mac
 .DS_Store
+
+# python build
+dist/*
+
+# cache files
+*.png
+*.pkl
+*.ply
+*.json
+
+# examples
+examples/python/view_control.pkl

CMakeLists.txt

@@ -1,41 +1,65 @@
 cmake_minimum_required(VERSION 3.24.1 FATAL_ERROR)
 
-project(spatialmp4)
+project(spatialmp4 VERSION 0.1.0)
+
+# Configure version header
+configure_file(
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/spatialmp4/version.h.in
+    ${CMAKE_CURRENT_BINARY_DIR}/include/spatialmp4/version.h
+    @ONLY
+)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_SHARED_LINKER_FLAGS "-Wl,-Bsymbolic-functions")
 
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 option(BUILD_ANDROID "whether build for android" OFF)
 option(BUILD_TESTING "whether build unit test" ON)
+option(BUILD_PYTHON "whether build python bindings" ON)
+
 if(BUILD_ANDROID)
     message(FATAL_ERROR "Don't support android building.")
 endif()
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fvisibility=hidden -fPIC")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden -fPIC -DEIGEN_MPL2_ONLY")
+set(WITH_OPENGL OFF CACHE BOOL "disable opengl" FORCE)
 
 include(cmake/ffmpeg_local.cmake)
 include(cmake/opencv_host.cmake)
 include(cmake/spdlog.cmake)
 include(cmake/fmt.cmake)
 include(cmake/eigen.cmake)
 include(cmake/sophus.cmake)
+
+if(BUILD_PYTHON)
+    include(cmake/pybind11.cmake)
+endif()
 
 set(SRC 
+    ./src/spatialmp4/utilities/RgbdUtils.cc
     ./src/spatialmp4/utilities/OpencvUtils.cc
     ./src/spatialmp4/utils.cc
     ./src/spatialmp4/reader.cc
 )
 
-add_library(${CMAKE_PROJECT_NAME}_static STATIC ${SRC})
-target_include_directories(${CMAKE_PROJECT_NAME}_static PUBLIC
+add_library(${CMAKE_PROJECT_NAME}_lib STATIC ${SRC})
+
+target_include_directories(${CMAKE_PROJECT_NAME}_lib PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/src
+    ${CMAKE_CURRENT_BINARY_DIR}/include
 )
-target_link_libraries(${CMAKE_PROJECT_NAME}_static PUBLIC
+
+
+if(EXISTS $ENV{CONDA_PREFIX}/lib)
+    link_directories($ENV{CONDA_PREFIX}/lib)
+endif()
+
+target_link_libraries(${CMAKE_PROJECT_NAME}_lib PUBLIC
     PkgConfig::LIBAV
-    lib_opencv
+    PkgConfig::OpenCV
     spdlog
     fmt::fmt
     Eigen3::Eigen
@@ -44,10 +68,58 @@ target_link_libraries(${CMAKE_PROJECT_NAME}_static PUBLIC
 # On newer versions of macOS (>=10.15) and with newer compilers,
 # filesystem is part of the standard library and doesn't need explicit linking
 if(UNIX AND NOT APPLE)
-    target_link_libraries(${CMAKE_PROJECT_NAME}_static PRIVATE stdc++fs)
+    target_link_libraries(${CMAKE_PROJECT_NAME}_lib PRIVATE stdc++fs)
 endif()
 
 
+# Add macOS framework linking
+if(APPLE)
+    set_target_properties(${CMAKE_PROJECT_NAME}_lib PROPERTIES
+        INSTALL_RPATH "@loader_path"
+        BUILD_WITH_INSTALL_RPATH TRUE
+        LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/python
+    )
+
+    # Find macOS frameworks
+    find_library(FOUNDATION_FRAMEWORK Foundation)
+    find_library(AUDIOTOOLBOX_FRAMEWORK AudioToolbox)
+    find_library(COREAUDIO_FRAMEWORK CoreAudio)
+    find_library(AVFOUNDATION_FRAMEWORK AVFoundation)
+    find_library(COREVIDEO_FRAMEWORK CoreVideo)
+    find_library(COREMEDIA_FRAMEWORK CoreMedia)
+    find_library(COREGRAPHICS_FRAMEWORK CoreGraphics)
+    find_library(OPENGL_FRAMEWORK OpenGL)
+    find_library(APPLICATIONSERVICES_FRAMEWORK ApplicationServices)
+    find_library(COREFOUNDATION_FRAMEWORK CoreFoundation)
+    find_library(APPKIT_FRAMEWORK AppKit)
+    find_library(CARBON_FRAMEWORK Carbon)
+    find_library(METAL_FRAMEWORK Metal)
+    find_library(VIDEOTOOLBOX_FRAMEWORK VideoToolbox)
+    find_library(COREIMAGE_FRAMEWORK CoreImage)
+    find_library(CORESERVICES_FRAMEWORK CoreServices)
+    find_library(SECURITY_FRAMEWORK Security)
+
+    target_link_libraries(${CMAKE_PROJECT_NAME}_lib PUBLIC
+        ${FOUNDATION_FRAMEWORK}
+        ${AUDIOTOOLBOX_FRAMEWORK}
+        ${COREAUDIO_FRAMEWORK}
+        ${AVFOUNDATION_FRAMEWORK}
+        ${COREVIDEO_FRAMEWORK}
+        ${COREMEDIA_FRAMEWORK}
+        ${COREGRAPHICS_FRAMEWORK}
+        ${OPENGL_FRAMEWORK}
+        ${APPLICATIONSERVICES_FRAMEWORK}
+        ${COREFOUNDATION_FRAMEWORK}
+        ${APPKIT_FRAMEWORK}
+        ${CARBON_FRAMEWORK}
+        ${METAL_FRAMEWORK}
+        ${VIDEOTOOLBOX_FRAMEWORK}
+        ${COREIMAGE_FRAMEWORK}
+        ${CORESERVICES_FRAMEWORK}
+        ${SECURITY_FRAMEWORK}
+    )
+endif()
+
 if(BUILD_TESTING)
     include(cmake/gtest.cmake)
     add_executable(test_reader
@@ -57,7 +129,7 @@ if(BUILD_TESTING)
         ./src/spatialmp4/reader_test.cc
     )
     target_link_libraries(test_reader PRIVATE
-        ${CMAKE_PROJECT_NAME}_static
+        ${CMAKE_PROJECT_NAME}_lib
         gtest
         gtest_main
     )
@@ -68,3 +140,14 @@ if(BUILD_TESTING)
         target_link_libraries(test_reader PRIVATE stdc++fs)
     endif()
 endif()
+
+if(BUILD_PYTHON)
+    add_subdirectory(bindings)
+endif()
+
+if (APPLE)
+    set_target_properties(${CMAKE_PROJECT_NAME}_lib PROPERTIES INSTALL_RPATH "@loader_path")
+else()
+    set_target_properties(${CMAKE_PROJECT_NAME}_lib PROPERTIES INSTALL_RPATH "\$ORIGIN")
+endif()
+install(TARGETS ${CMAKE_PROJECT_NAME}_lib DESTINATION lib)

MANIFEST.in

@@ -0,0 +1,2 @@
+recursive-include spatialmp4 *.so *.dylib
+include pyproject.toml