Python API by victorreijgwart · Pull Request #69 · ethz-asl/wavemap

victorreijgwart · 2024-09-02T12:52:45Z

Description

This PR introduces pywavemap, a Python API for the wavemap library.

Type of change

New feature

Detailed summary

This PR extends wavemap 2.0 with a full-fledged Python API, enabling the creation, reading, and writing of map files. Users can configure and run modular mapping pipelines directly in Python. The API includes fast, batched map accessors optimized for PyTorch and other machine learning frameworks. Additionally, the CI pipeline has been rewritten for improved testing and easier future extensions.

New features
- Add a Python API for wavemap supporting
  - Creating maps from measurements
  - Storing and loading maps to/from disk
  - Methods to query and interpolate the map
    - Including accelerated, PyTorch-friendly batch accessors
- Documentation on how to install and use the Python API
Improvements
- CMake
  - Add CMake options to support embedding the C++ library in a Python pip pkg
  - Improve auto-fetching of glog, switch to a version with better CMake support
- C++
  - Extend map interpolation utils
  - Improve consistency between chunked and regular octree map interfaces
  - Improve consistency between Pointcloud and Image data structures
  - Add method to parse TypeSelector types directly from std::strings
- Documentation
  - Improve C++ library installation instructions
  - Improve and extend C++ library usage tutorial
  - Add doxygen annotations for more C++ API classes and methods
- A full rewrite of the CI pipeline
  - Include the Python API
  - Reintroduce the thread sanitizer
  - Also test on Ubuntu 22.04 and 24.04, in addition to 20.04
  - Clean up and simplify all workflows
  - Migrate from self-hosted to public GitHub Actions Runners
Bug fixes
- Warn user and ignore range images of wrong dimensions to avoid segfaults
- Avoid out-of-bounds access bug in Haar coefficients print method
- Remove usage of deprecated STL types (avoid warnings from new GCC versions)
- Explicitly forbid shallow copying of wavemap maps to avoid nanobind errors
- Set glog logging level directly, not with gflags lib (might be unavailable)

Testing

Unit tests for pywavemap have been implemented using pytest.
The CI pipeline has been extended to automatically build and test pywavemap, alongside other major improvements (see above).

Checklist:

My code follows the style guidelines of this project
I have performed a self-review of my code
I have commented my code, particularly in hard-to-understand areas
I have made corresponding changes to the documentation
Any required changes in dependencies have been committed and pushed

Circumventing gflags helps since it is not always available or linked correctly. An alternative solution would be to automatically make gflags available through FetchContent, but we would rather keep the number of auto-fetched libraries small to reduce compatibility struggles. Furthermore, our library currently disables the option to install if any dependency is auto-fetched.

LionelOtt · 2024-09-06T11:16:46Z

+      .def("clear", &Pipeline::clear,
+           "Deregister all the pipeline's measurement integrators and map "
+           "operations.")
+      .def("hasIntegrator", &Pipeline::hasIntegrator, "integrator_name"_a,


Would be has_integrator or alternatively integrator_name in pipeline. The in keyword is used in python to check for existence of an object in a different thing, often lists, maps, etc. So might not be the most sensible here to be honest unless you return a list of integrators but then it's on the user to implement the check.

victorreijgwart added 30 commits August 8, 2024 16:00

Initial commit for wavemap's Python API

f3db2f8

Merge branch 'develop/v2.0' into feature/pywavemap

a59f13c

Improve param::Value documentation

25fbc2b

Conversions from python types to wavemap params

efdc5ce

Support std::optional from syntax when parsing std::string

55a4f3c

Add bindings for Pipeline and make logging configurable

6169267

Make pywavemap pip installable

9cd758f

Extend and document Map binding

949e90d

Improve consistency between Pointcloud and Image data structures

54f4140

Tidy up and document bindings further

51ec8ce

Get CLion introspection to work along scikit builds

05ebde7

Draft bindings for measurement types

6321c05

Generate stubs for better code completion in IDEs

18a4b62

Setup documentation generation for Python API

5e81382

Include missing conversion helpers

0eaac33

Explicitly import all members to avoid linting errors in user pkgs

2d2ca39

Make bindings private following PEP8 and improve docs

087cec3

Example script to build a map using the panoptic mapping dataset

d767f77

Merge branch 'main' into feature/pywavemap

5fd2ac4

Manually provide func signatures to avoid input mismatch warnings in IDE

c4e8dc3

Fix link to tutorial/examples documentation

f6b536c

Fix link to C++ API documentation

25be8d5

Add installation instructions to documentation and improve CMake setup

d5c8f8d

Debug issues with pip install on other machines

d6a8f71

Add dependency on typing_extensions for older python versions

35feb1b

FetchContent more recent glog version for better CMake config support

16feaec

Add Docker files to test pip installs

6f4ec7e

Also auto-fetch glog when it is not found by PkgConfig

fe22adf

Document how to install pywavemap

67c7e67