Feature/pypi releases (#70)

* add extra steps to release

* fix syntax

* fix list syntax

* initial action trigger

* fix missing header for windows

* switch to c++20 for numbers header

* try and fix ci warnings

* bump version number

* drop invalid selector

* skip 32 bit windows

* turn off feature branch

Author: nathanhhughes

.github/workflows/wheels.yaml

@@ -1,8 +1,12 @@
 ---
 # Adapted from:
 # https://github.com/pypa/cibuildwheel?tab=readme-ov-file#example-setup
+# https://github.com/pypa/cibuildwheel/blob/main/examples/github-deploy.yml
 name: Spark-DSG Wheels
-on: {release: {types: [published]}}
+on:
+  workflow_dispatch: {}
+  push: {branches: [main]}
+  release: {types: [published]}
 jobs:
   build_wheels:
     name: Build wheels on ${{ matrix.os }}
@@ -11,13 +15,38 @@ jobs:
       matrix:
         os: [ubuntu-latest, ubuntu-24.04-arm, windows-latest, macos-latest]
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-      - name: Install cibuildwheel
-        run: python -m pip install cibuildwheel
+      - uses: actions/checkout@v5
       - name: Build wheels
-        run: python -m cibuildwheel --output-dir wheelhouse
+        uses: pypa/[email protected]
+        env:
+          CIBW_PLATFORM: ${{ matrix.platform || 'auto' }}
+          CIBW_ARCHS: ${{ matrix.archs || 'auto' }}
       - uses: actions/upload-artifact@v4
         with:
           name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
           path: ./wheelhouse/*.whl
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v5
+      - name: Build sdist
+        run: pipx run build --sdist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist/*.tar.gz
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    if: github.event_name == 'release' && github.event.action == 'published'
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v5
+        with:
+          pattern: cibw-*
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1

CMakeLists.txt

@@ -1,7 +1,7 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 project(spark_dsg VERSION 1.1.2)
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "spark_dsg"
-version = "1.1.1"
+version = "1.1.2"
 description = "Library for representing 3D scene graphs"
 readme = "README.md"
 license = "BSD-3-Clause"
@@ -53,5 +53,5 @@ BUILD_SHARED_LIBS = "OFF"
 split-on-trailing-comma = true
 
 [tool.cibuildwheel]
-skip = ["pp*", "*musl*"]
+skip = ["*musl*", "*win32*"]
 archs = ["native"]

src/traversability_boundary.cpp

@@ -1,5 +1,8 @@
 #include "spark_dsg/traversability_boundary.h"
 
+#include <cmath>
+#include <numbers>
+
 namespace spark_dsg {
 
 bool isTraversable(TraversabilityState state, bool optimistic) {
@@ -334,7 +337,7 @@ Side Boundary::lineIntersectsSide(const Eigen::Vector2d& source) const {
   if (std::abs(theta_q) <= theta_0) {
     return Side::RIGHT;
   }
-  if (std::abs(theta_q) >= M_PI - theta_0) {
+  if (std::abs(theta_q) >= std::numbers::pi - theta_0) {
     return Side::LEFT;
   }
   if (theta_q > 0) {

tests/utest_bounding_box.cpp

@@ -36,6 +36,7 @@
 #include <spark_dsg/bounding_box.h>
 
 #include <Eigen/Geometry>
+#include <numbers>
 
 namespace spark_dsg {
 
@@ -143,10 +144,12 @@ TEST(BoundingBoxTests, BasicOBBVolumeChecksCorrect) {
 
 TEST(BoundingBoxTests, RotatedOBBVolumeChecksCorrect) {
   // positive pi / 6 rotation around z
-  BoundingBox box(
-      Eigen::Vector3f(2.0, 3.0, 4.0),
-      Eigen::Vector3f(5.0, 5.5, 6.0),
-      Eigen::Quaternionf(std::cos(M_PI / 12.0), 0.0, 0.0, std::sin(M_PI / 12.0)));
+  BoundingBox box(Eigen::Vector3f(2.0, 3.0, 4.0),
+                  Eigen::Vector3f(5.0, 5.5, 6.0),
+                  Eigen::Quaternionf(std::cos(std::numbers::pi / 12.0),
+                                     0.0,
+                                     0.0,
+                                     std::sin(std::numbers::pi / 12.0)));
   EXPECT_NEAR(24.0f, box.volume(), 1.0e-8f);
 
   {  // previously inside, but now outside
@@ -244,8 +247,9 @@ TEST(BoundingBoxTests, RAABBVolumeChecksNonZeroOrigin) {
 
 TEST(BoundingBoxTests, RAABBVolumeChecksCorrectWithRotation) {
   // positive pi / 12 rotation around z
-  BoundingBox box(
-      Eigen::Vector3f(1.0, 2.0, 3.0), Eigen::Vector3f(0.5, 1.0, 1.5), M_PI / 12.0);
+  BoundingBox box(Eigen::Vector3f(1.0, 2.0, 3.0),
+                  Eigen::Vector3f(0.5, 1.0, 1.5),
+                  std::numbers::pi / 12.0);
   EXPECT_NEAR(6.0f, box.volume(), 1.0e-8f);
 
   {  // inside (at center)
@@ -341,18 +345,18 @@ TEST(BoundingBoxTests, computeOrientedIoU) {
   Eigen::Vector3f pos(0.0, 0.0, 0.0);
   // 90-degree rotations -> IoU of 1
   BoundingBox box(size, pos, 0.0f);
-  BoundingBox box2(size, pos, M_PI / 2.0f);
+  BoundingBox box2(size, pos, std::numbers::pi / 2.0f);
 
   EXPECT_EQ(box.computeIoU(box2), 1.0f);
 
-  box2 = BoundingBox(size, pos, M_PI / 4.0f);
+  box2 = BoundingBox(size, pos, std::numbers::pi / 4.0f);
   EXPECT_NEAR(box.computeIoU(box2), 1.0f / std::sqrt(2.0f), 1.0e-3f);
 }
 
 TEST(BoundingBoxTests, Corners) {
   Eigen::Vector3f size(1.0, 2.0, 3.0);
   Eigen::Vector3f pos(0.5, 1.0, 1.5);
-  const float yaw = M_PI / 6;
+  const float yaw = std::numbers::pi / 6;
   const BoundingBox box(size, pos, yaw);
   const auto corners = box.corners();
 
@@ -370,7 +374,7 @@ TEST(BoundingBoxTests, Corners) {
 TEST(BoundingBoxTests, frameConversions) {
   const Eigen::Vector3f size(1.0, 2.0, 3.0);
   const Eigen::Vector3f pos(0.5, 1.0, 1.5);
-  const float yaw = M_PI / 6;
+  const float yaw = std::numbers::pi / 6;
   const BoundingBox box(size, pos, yaw);
 
   // Center.
@@ -412,17 +416,18 @@ TEST(BoundingBoxTests, merge) {
   EXPECT_EQ(Eigen::Vector3f(0, 0, 0), box1.world_P_center);
 
   // General Box (RAABB).
-  box1 =
-      BoundingBox(Eigen::Vector3f(1, 2, 3), Eigen::Vector3f(0.5, 1.0, 1.5), M_PI / 6);
-  box2 = BoundingBox(
-      Eigen::Vector3f(1.5, 1.5, 1.5), Eigen::Vector3f(0.5, 1.0, 1.5), M_PI / 6);
+  box1 = BoundingBox(
+      Eigen::Vector3f(1, 2, 3), Eigen::Vector3f(0.5, 1.0, 1.5), std::numbers::pi / 6);
+  box2 = BoundingBox(Eigen::Vector3f(1.5, 1.5, 1.5),
+                     Eigen::Vector3f(0.5, 1.0, 1.5),
+                     std::numbers::pi / 6);
   box1.merge(box2);
   const float yaw = box1.world_R_center.eulerAngles(0, 1, 2)[2];
   // The solution finds the 90deg rotated box, i.e. y=x and yaw=-60deg from 30 deg.
   EXPECT_NEAR(2, box1.dimensions(0), 1.0e-6f);
   EXPECT_NEAR(1.5, box1.dimensions(1), 1.0e-6f);
   EXPECT_NEAR(3, box1.dimensions(2), 1.0e-6f);
-  EXPECT_NEAR(-M_PI / 3, yaw, 1.0e-6f);
+  EXPECT_NEAR(-std::numbers::pi / 3, yaw, 1.0e-6f);
 }
 
 }  // namespace spark_dsg

tests/utest_bounding_box_extraction.cpp

@@ -36,6 +36,7 @@
 #include <spark_dsg/bounding_box_extraction.h>
 
 #include <Eigen/Geometry>
+#include <numbers>
 
 namespace spark_dsg {
 
@@ -44,7 +45,7 @@ inline float getRotationError(const Eigen::Quaternionf& rotation,
                               const BoundingBox& box) {
   // we only care up to 180 degrees orientation
   return std::fmod(rotation.angularDistance(Eigen::Quaternionf(box.world_R_center)),
-                   M_PI);
+                   std::numbers::pi);
 }
 
 struct TestAdaptor : public bounding_box::PointAdaptor {
@@ -158,7 +159,7 @@ TEST(BoundingBoxExtractionTests, RAABBFromPoints) {
 TEST(BoundingBoxExtractionTests, RAABBFromPointsNonTrivial) {
   TestAdaptor adaptor;
   const size_t num_steps = 2;
-  const float angle = M_PI / 6.0f;
+  const float angle = std::numbers::pi / 6.0f;
   const float length = 5.0;
   const float width = 2.0;
   const float height = 0.4;