Add cibuildwheel workflow

.github/workflows/build-cibw.yml

@@ -0,0 +1,76 @@
+name: Build Wheels (cibuildwheel)
+
+on: [workflow_dispatch]
+
+jobs:
+  build_wheels:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            python_version: "3.10"
+            cibw_python_version: 310
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python_version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python_version }}
+
+      - name: Set Nightly Flag
+        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
+      - name: Install Dependencies
+        run: |
+          sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+          python3 -m pip install -r python/dev_requirements.txt
+
+      - name: Run CMake
+        run: |
+          cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
+
+      - name: Build and test wheels
+        env:
+          CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
+          CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
+          CIBW_ARCHS: all
+          CIBW_ENVIRONMENT_PASS_LINUX: NIGHTLY
+
+          CIBW_BUILD_FRONTEND: "build"
+          CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
+
+          CIBW_BUILD_VERBOSITY: 1
+
+        run: bash build_tools/wheels/build_wheels.sh
+
+      - name: Store artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
+          path: wheelhouse/*.whl
+
+  upload_all:
+    name: Upload All
+    needs: build_wheels
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
+
+      - name: Publish to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          repository-url: https://test.pypi.org/legacy/

.gitignore

@@ -1,4 +1,4 @@
-/build*
+/build
 /debug*
 .idea
 *.pyc

CMakeLists.txt

@@ -10,10 +10,16 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
-if ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
+if (DEFINED ENV{NIGHTLY})
+    string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
+    set (GTSAM_VERSION_STRING "${NOW}")
+    set (SETUP_NAME "gtsam-nightly")
+elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+    set (SETUP_NAME "gtsam")
 else()
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
+    set (SETUP_NAME "gtsam")
 endif()
 
 project(GTSAM

build_tools/wheels/build_wheels.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+set -x
+
+python -m pip install cibuildwheel
+python -m cibuildwheel build/python --output-dir wheelhouse

build_tools/wheels/cibw_before_all.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+set -e
+set -x
+
+PYTHON_VERSION="$1"
+PROJECT_DIR="$2"
+
+export PYTHON="python${PYTHON_VERSION}"
+
+yum install -y wget ninja-build
+$(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
+
+# Install Boost
+wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
+tar -xzf boost_1_87_0.tar.gz
+cd boost_1_87_0
+./bootstrap.sh --prefix=/opt/boost
+./b2 install --prefix=/opt/boost --with=all
+
+# Remove build/cache files that were generated on host
+cd ..
+rm -rf $PROJECT_DIR/build
+rm -rf CMakeCache.txt CMakeFiles
+
+cmake $PROJECT_DIR \
+    -B build \
+    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+    -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+    -DGTSAM_BUILD_PYTHON=ON \
+    -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
+    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
+
+cd $PROJECT_DIR/build/python
+make -j $(nproc) install

python/setup.py.in

@@ -1,6 +1,6 @@
 """Setup file to install the GTSAM package."""
 
-from setuptools import setup, find_namespace_packages
+from setuptools import setup, find_namespace_packages, Distribution
 
 packages = find_namespace_packages(
     where=".",
@@ -20,8 +20,12 @@ package_data = {
 # Cleaner to read in the contents rather than copy them over.
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
+class BinaryDistribution(Distribution):
+    def has_ext_modules(foo):
+        return True
+
 setup(
-    name='gtsam',
+    name='${SETUP_NAME}',
     description='Georgia Tech Smoothing And Mapping library',
     url='https://gtsam.org/',
     version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/
@@ -46,6 +50,7 @@ setup(
     packages=packages,
     include_package_data=True,
     package_data=package_data,
+    distclass=BinaryDistribution,
     test_suite="gtsam.tests",
     install_requires=open("${GTSAM_SOURCE_DIR}/python/requirements.txt").readlines(),
     zip_safe=False,