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 +1,42 @@
+# Get NumPy and Cython versions
+execute_process(
+  COMMAND python3 -c "import numpy; print(numpy.__version__)"
+  OUTPUT_VARIABLE NUMPY_VERSION
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+execute_process(
+  COMMAND python3 -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}")
+
+# Convert versions to list of numbers
+string(REPLACE "." ";" NUMPY_VER_LIST ${NUMPY_VERSION})
+list(GET NUMPY_VER_LIST 0 NUMPY_MAJOR)
+list(GET NUMPY_VER_LIST 1 NUMPY_MINOR)
+list(GET NUMPY_VER_LIST 2 NUMPY_PATCH)
+
+string(REPLACE "." ";" CYTHON_VER_LIST ${CYTHON_VERSION})
+list(GET CYTHON_VER_LIST 0 CYTHON_MAJOR)
+list(GET CYTHON_VER_LIST 1 CYTHON_MINOR)
+list(GET CYTHON_VER_LIST 2 CYTHON_PATCH)
+
+# Compare versions
+# This noexcept modifier was added in newer versions of Cython, and support for it is required when compiling with newer versions of NumPy (1.26+).
+# Update your Cython to a recent version (>= 0.29.30 or 3.0+ recommended):
+
+math(EXPR NUMPY_VER "${NUMPY_MAJOR} * 10000 + ${NUMPY_MINOR} * 100 + ${NUMPY_PATCH}")
+math(EXPR CYTHON_VER "${CYTHON_MAJOR} * 10000 + ${CYTHON_MINOR} * 100 + ${CYTHON_PATCH}")
+
+if (NUMPY_VER GREATER_EQUAL 12600 AND CYTHON_VER LESS 2930)
+  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 +55,5 @@ install(TARGETS nms
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
 )
+
+endif()