Merge pull request #2 from borglab/full-working-example

Full Working Example

.gitignore

@@ -33,5 +33,5 @@
 
 # Directories
 .ipynb_checkpoints/*
-build/*
+**/build/*
 example/__pycache__

README.md

@@ -1,5 +1,4 @@
 # gtsam-project-python
 Project template using GTSAM + python wrapping
 
-# DISCLAIMER
-Under construction, doesn't work yet!! :(
+Please refer to the [tutorial](TUTORIAL.md) to get started.

TUTORIAL.md

@@ -0,0 +1,124 @@
+# Tutorial
+
+This is a tutorial on how to wrap your own C++ projects using GTSAM's python wrapper.
+
+# Prerequisites
+
+We assume you have Python 3 installed. We support Python 3.6 and up.
+
+We also assume some knowledge of how Python packaging and setup works. If you understand how to write your own basic `setup.py` file, you should be fine.
+Using this template project, you should only need to update the metadata information about your project. Check out the [python packaging website](https://packaging.python.org/tutorials/packaging-projects/) to learn more.
+
+As a bonus, if you understand Cython's build process, this tutorial should be fairly intuitive.
+
+**NOTE** This tutorial has been tested using GTSAM version 4.0.x and above.
+
+# Project Setup
+
+As a set of minimal requirements, the project should be set up as follows:
+
+```
+top-level-directory
+|
+|- CMakeLists.txt
+|- <project>.h
+|- __init__.py.in
+|- setup.py
+|- src/
+
+```
+
+The files are
+
+1. `CMakeLists.txt`: The cmake definition file.
+2. `<project>.h`: The header file which specifies all the code components to be wrapped.
+3. `__init__.py.in`: Template __init__.py file used by cmake.
+4. `setup.py`: The file used by setuptools to generate the egg/wheel.
+5. `src/`: All your C++ source code goes here.
+
+
+# CMake Configuration
+
+In this section, we will go through a step-by-step process of defining the `CMakeLists.txt` file which will generated our wrapped code.
+
+An illustrative example is provided in the `src` directory of this repository.
+
+1. Define project name.
+2. Optionally, set the Python version you'd like to target. This should ideally be the same as the version you used to build the wrapper.
+3. Include `GTSAM` package. This allows use to use the cython install path automatically. CMake will take care of the rest.
+
+    ```cmake
+    find_package(GTSAM REQUIRED)
+    include_directories(${GTSAM_CYTHON_INSTALL_PATH})
+    include_directories(${GTSAM_EIGENCY_INSTALL_PATH})
+    ```
+
+ 4. The second package is `GTSAMCMakeTools`. This gives us access to the wrapping functions which we will use later on.
+
+    ```cmake
+    find_package(GTSAMCMakeTools CONFIG)
+    include(GtsamCythonWrap) # Automatic Cython wrapper generation
+    ```
+
+5. These next few steps should be familiar for CMake users. We first include the project source directory.
+
+    ```cmake
+    include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
+    ```
+
+6. Now we can specify the building and linking of our project code as a shared library.
+
+    ```cmake
+    add_library(${PROJECT_NAME} SHARED src/greeting.h src/greeting.cpp)
+    target_link_libraries(${PROJECT_NAME} gtsam)
+    ```
+
+7. And finally, we can install the shared library.
+
+    ```cmake
+    install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+    ```
+
+8. Now we get to the wrapping part. To specify our project as a package we need to include an `__init__.py` file at the top level. This will allow python imports to work correctly. We can use the basic `__init__.py.in` template in this repo since it is pretty generic.
+
+    ```cmake
+    configure_file(${PROJECT_SOURCE_DIR}/__init__.py.in ${PROJECT_BINARY_DIR}/cython/${PROJECT_NAME}/__init__.py)
+    ```
+
+9. To help build and install the wrapped project, we make use of a `setup.py` file. This file can be customized as per your requirements. **NOTE** This command only copies over the `setup.py` file, so make sure you make any updates **BEFORE** you run `cmake`.
+
+    ```cmake
+    configure_file(${PROJECT_SOURCE_DIR}/setup.py ${PROJECT_BINARY_DIR}/cython/setup.py COPYONLY)
+    ```
+
+10. Finally, we specify the wrapping function so that the GTSAM wrapper can do its job. We require only one function `wrap_and_install_library_cython` which takes the following 5 arguments:
+
+    1. Interface Header: A `.h` file which defines what classes, functions, etc., are to be wrapped.
+    2. Extra Imports: This is a set of `cython` imports included in the generated Cython files. You can use this to specify any additional imports your project may be dependent on.
+    3. Install Path: This is the location where the wrapped package will be installed on running `make install`.
+    4. Libraries: A semi-colon separated list of libraries which the project will be linked against. At the very least, you should link against `gtsam` and the generated shared object file.
+    5. Dependencies: This is a semi-colon separated list of dependency targets that need to be built before the code can be compiled and wrapped. This is nothing but a list of CMake targets.
+
+    ```cmake
+    wrap_and_install_library_cython("example.h" # interface_header
+                                    "" # extra imports
+                                    "./${PROJECT_NAME}" # install path
+                                    "gtsam;${PROJECT_NAME}"  # library to link with
+                                    "wrap;gtsam"  # dependencies which need to be built before wrapping
+                                    )
+    ```
+
+# Compiling
+
+To compile and wrap the code, the familiar CMake process is followed. Starting from the directory where the `setup.py` file is located, we create a build directory and run `cmake` and `make`.
+
+```sh
+mkdir build && cd build
+cmake .. && make
+```
+
+Finally, we go into the generated `cython` directory where the `setup.py` file is present, and run `python setup.py build` to generate the final package.
+
+# Installing
+
+To install the package, in the `cython` directory we can run `python setup.py build`.

example/CMakeLists.txt

@@ -0,0 +1,71 @@
+# This file should be used as a template for creating new projects with Python wrapping using the CMake tools
+
+###################################################################################
+# 1. To create your own project, replace "example" with the actual name of your project
+cmake_minimum_required(VERSION 3.0)
+project(example CXX C)
+
+###################################################################################
+# 2. Set the python version
+set(GTSAM_PYTHON_VERSION "3.6")
+
+###################################################################################
+# 3. Find GTSAM components so we have access to the GTSAM Cython install path
+find_package(GTSAM REQUIRED) # Uses installed package
+# Note: Since Jan-2019, GTSAMConfig.cmake defines exported CMake targets
+# that automatically do include the include_directories() without the need
+# to call include_directories(), just target_link_libraries(NAME gtsam)
+#include_directories(${GTSAM_INCLUDE_DIR})
+
+# Include the required GTSAM Cython libraries
+include_directories(${GTSAM_CYTHON_INSTALL_PATH})
+include_directories(${GTSAM_EIGENCY_INSTALL_PATH})
+
+###################################################################################
+# 4. Get the wrapping functions
+# Include GTSAM CMake tools
+find_package(GTSAMCMakeTools CONFIG)
+#include(GtsamBuildTypes) # Load build type flags and default to Debug mode
+#include(GtsamTesting)    # Easy functions for creating unit tests and scripts
+include(GtsamCythonWrap) # Automatic Cython wrapper generation
+
+###################################################################################
+# 5. Add the local source directory for CMake
+# Ensure that local folder is searched before library folders
+include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
+
+
+###################################################################################
+# 6. Build static library from common sources
+add_library(${PROJECT_NAME} SHARED src/greeting.h src/greeting.cpp)
+target_link_libraries(${PROJECT_NAME} gtsam)
+
+###################################################################################
+# 7. Install library
+install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+
+###################################################################################
+# # Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
+# gtsamAddTestsGlob("${PROJECT_NAME}" "tests/test*.cpp" "" "${PROJECT_NAME}")
+
+###################################################################################
+# # Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
+# gtsamAddExamplesGlob("*.cpp" "" "${PROJECT_NAME}")
+
+###################################################################################
+# 8. Copy the __init__.py file so Cython recognizes this as a package.
+# This function also updates the contents to use the correct package name.
+configure_file(${PROJECT_SOURCE_DIR}/__init__.py.in ${PROJECT_BINARY_DIR}/cython/${PROJECT_NAME}/__init__.py)
+
+###################################################################################
+# 9. (Strict) Copy over the setup.py file so we can build and install the package.
+configure_file(${PROJECT_SOURCE_DIR}/setup.py ${PROJECT_BINARY_DIR}/cython/setup.py COPYONLY)
+
+###################################################################################
+# 10. Build Cython wrapper (CMake tracks the dependecy to link with GTSAM through our project's static library)
+wrap_and_install_library_cython("example.h" # interface_header
+                                "" # extra imports
+                                "./${PROJECT_NAME}" # install path
+                                "gtsam;${PROJECT_NAME}"  # library to link with
+                                "wrap;gtsam"  # dependencies which need to be built before wrapping
+                                )

example/__init__.py.in

@@ -0,0 +1 @@
+from .${PROJECT_NAME} import *

example/example.h

@@ -0,0 +1,31 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     example.h
+ * @brief    Example wrapper interface file for Python
+ * @author   Varun Agrawal
+ */
+
+// This is an interface file for automatic Python wrapper generation.  See
+// gtsam.h for full documentation and more examples.
+
+#include <src/greeting.h>
+
+namespace example {
+
+class Greeting {
+    Greeting();
+    void sayHello() const;
+    void sayGoodbye() const;
+};
+
+}

example/setup.py

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+import os
+import sys
+try:
+    from setuptools import setup, find_packages
+except ImportError:
+    from distutils.core import setup, find_packages
+
+packages = find_packages()
+
+setup(
+    name='example',
+    description='Simple example of wrapping projects with Python and GTSAM',
+    url='https://gtsam.org/',
+    version='1.0.0',
+    author='Varun Agrawal',
+    author_email='[email protected]',
+    license='Simplified BSD license',
+    keywords='wrapper tutorial example',
+    long_description="",
+    long_description_content_type='text/markdown',
+    python_requires='>=3.6',
+    # https://pypi.org/pypi?%3Aaction=list_classifiers
+    classifiers=[
+        'Development Status :: 5 - Production/Stable',
+        'Intended Audience :: Education',
+        'Intended Audience :: Developers',
+        'Intended Audience :: Science/Research',
+        'Operating System :: MacOS',
+        'Operating System :: Microsoft :: Windows',
+        'Operating System :: POSIX',
+        'License :: OSI Approved :: BSD License',
+        'Programming Language :: Python :: 2',
+        'Programming Language :: Python :: 3',
+    ],
+
+    packages=packages,
+    # Load the built shared object files
+    package_data={package:
+        [f for f in os.listdir(package.replace('.', os.path.sep)) if os.path.splitext(f)[1] in ('.so', '.pyd')]
+        for package in packages
+    },
+    install_requires=[line.strip() for line in '''
+        Cython>=0.25.2
+        backports_abc>=0.5
+        numpy>=1.12.0
+'''.splitlines() if len(line.strip()) > 0 and not line.strip().startswith('#')]
+)

example/src/greeting.cpp

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+#include "greeting.h"
+
+namespace example {
+
+/// Print a greeting
+void Greeting::sayHello() const {
+    std::cout << "Hello from GTSAM!" << std::endl;
+    std::cout << "Here's a Rot3 for you " << gtsam::Rot3() << std::endl;
+}
+
+/// Print a farewell
+void Greeting::sayGoodbye() const {
+    std::cout << "Goodbye, robot" << std::endl;
+}
+
+};

example/src/greeting.h

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+#include <gtsam/geometry/Rot3.h>
+#include <iostream>
+#include <string>
+
+namespace example {
+
+class Greeting {
+ public:
+  /// Print a greeting
+  void sayHello() const;
+
+  /// Print a farewell
+  void sayGoodbye() const;
+};
+
+}  // namespace example