jsk_recognition_utils: compile nms: check if NumPy >= 1.26.0 requires newer version of Cython >= 0.29.30

Author: k-okada

jsk_recognition_utils/python/jsk_recognition_utils/CMakeLists.txt

@@ -1,3 +1,59 @@
+# Get NumPy and Cython versions
+execute_process(
+  COMMAND python$ENV{ROS_PYTHON_VERSION} -c "import numpy; print(numpy.__version__)"
+  OUTPUT_VARIABLE NUMPY_VERSION
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+execute_process(
+  COMMAND python$ENV{ROS_PYTHON_VERSION} -c "import Cython; print(Cython.__version__)"
+  OUTPUT_VARIABLE CYTHON_VERSION
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+message(STATUS "NumPy version: ${NUMPY_VERSION}")
+message(STATUS "Cython version: ${CYTHON_VERSION}")
+
+# --- Parse version strings safely ---
+# --- Compatibility logic (CMake 3.5+) ---
+function(version_to_number ver_str out_var)
+  string(REPLACE "." ";" _parts ${ver_str})
+  list(LENGTH _parts _len)
+  list(GET _parts 0 _major)
+  if(_len GREATER 1)
+    list(GET _parts 1 _minor)
+  else()
+    set(_minor 0)
+  endif()
+  if(_len GREATER 2)
+    list(GET _parts 2 _patch)
+  else()
+    set(_patch 0)
+  endif()
+  math(EXPR _version_num "${_major} * 10000 + ${_minor} * 100 + ${_patch}")
+  set(${out_var} ${_version_num} PARENT_SCOPE)
+endfunction()
+
+# Compare versions
+# This noexcept modifier was added in newer versions of Cython, and support for it is required when compiling with newer versions of NumPy (1.26+).
+# Update your Cython to a recent version (>= 0.29.30 or 3.0+ recommended):
+
+
+# Simulate GREATER_EQUAL using GREATER or EQUAL
+set(SKIP_NMS FALSE)
+version_to_number("${NUMPY_VERSION}" NUMPY_VER)
+if(NUMPY_VER GREATER 12600 OR NUMPY_VER EQUAL 12600)
+  version_to_number("${CYTHON_VERSION}" CYTHON_VER)
+  if(CYTHON_VER LESS 2930)
+    set(SKIP_NMS TRUE)
+  endif()
+endif()
+
+if(SKIP_NMS)
+  message(WARNING "NumPy >= 1.26.0 requires newer version of Cython >= 0.29.30, skip compile nms.pyx")
+else()
+  # Your normal logic here
+
 if(NOT DEFINED Numpy_INCLUDE_DIRS)
   # Get Numpy include directories
   execute_process(
@@ -16,3 +72,5 @@ install(TARGETS nms
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
 )
+
+endif()