ci: modernize build, add macOS support, and enable python tests

.github/workflows/cpp.yml

@@ -13,14 +13,11 @@ jobs:
   cpp_api:
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04, windows-2022] # TODO(hlim): Support Mac macos-14, macos-15]
+        os: [ubuntu-24.04, ubuntu-22.04, windows-2022, macos-14]
     steps:
-      - uses: actions/checkout@v3
-      - name: Setup cmake
-        uses: jwlawson/actions-setup-cmake@v1.13
-        with:
-          cmake-version: "3.25.x"
+      - uses: actions/checkout@v4
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp/
       - name: Build
@@ -38,7 +35,7 @@ jobs:
         os: [ubuntu-24.04, ubuntu-22.04]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Cache dependencies
         uses: actions/cache@v4
         with:

.github/workflows/pre-commit.yml

@@ -11,8 +11,8 @@ jobs:
     name: Pre-commit checks
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - uses: actions/setup-python@v4
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: "3.10"
-      - uses: pre-commit/action@v3.0.0
+      - uses: pre-commit/action@v3.0.1

.github/workflows/pypi.yml

@@ -14,54 +14,58 @@ jobs:
     name: Build source distribution
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Build sdist
         run: pipx run build --sdist ${{github.workspace}}/python/
       - name: Move sdist to dist
         run: mkdir -p dist && mv ${{github.workspace}}/python/dist/*.tar.gz dist/
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
+          name: sdist
           path: dist/*.tar.gz
 
   cibuildwheel:
     name: Build wheels on ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
-        os: [ubuntu-22.04, windows-2022] # TODO(hlim): Support Mac, macos-14]
+        os: [ubuntu-22.04, windows-2022, macos-14]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Build test wheels (only PRs)
         if: github.event_name != 'release'
-        uses: pypa/cibuildwheel@v2.16.5
+        uses: pypa/cibuildwheel@v2.21.3
         env: # build 1 build per platform just to make sure we can do it later when releasing
           CIBW_BUILD: "cp310-*"
         with:
           package-dir: ${{github.workspace}}/python/
 
       - name: Build all wheels
         if: github.event_name == 'release'
-        uses: pypa/cibuildwheel@v2.16.5
+        uses: pypa/cibuildwheel@v2.21.3
         with:
           package-dir: ${{github.workspace}}/python/
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
+          name: wheels-${{ matrix.os }}
           path: ./wheelhouse/*.whl
 
   pypi:
     if: github.event_name == 'release'
     needs: [cibuildwheel, build_sdist]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
-          name: artifact
           path: dist
+          pattern: "{sdist,wheels-*}"
+          merge-multiple: true
 
       - uses: pypa/gh-action-pypi-publish@release/v1
         with:

.github/workflows/python.yml

@@ -9,21 +9,20 @@ jobs:
   python_package:
     runs-on: ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
-        os: [ubuntu-24.04, ubuntu-22.04, windows-2022] # TODO(hlim): Support Mac macos-14, macos-15]
+        os: [ubuntu-24.04, ubuntu-22.04, windows-2022, macos-14]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Set up Python3
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
       - name: Build pip package
         run: |
-          python -m pip install --verbose ./python/
-      # TODO(hlim) Set unit test
-      # - name: Run unittests
-      #   run: |
-      #     python -m pip install --verbose './python[test]'
-      #     pytest -rA --verbose ./python/
+          python -m pip install --verbose './python[test]'
+      - name: Run unittests
+        run: |
+          pytest -rA --verbose ./python/

.github/workflows/ros.yml

@@ -14,11 +14,7 @@ jobs:
         release: [humble, jazzy]
     container: osrf/ros:${{ matrix.release }}-desktop
     steps:
-      - name: Setup cmake
-        uses: jwlawson/actions-setup-cmake@v1.13
-        with:
-          cmake-version: "3.25.x"
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Run colcon
         run: source /opt/ros/${{ matrix.release }}/setup.bash && colcon build --event-handlers console_direct+
         shell: bash

Makefile

@@ -1,15 +1,23 @@
+UNAME_S := $(shell uname -s 2>/dev/null || echo Unknown)
+ifeq ($(UNAME_S),Darwin)
+	NPROC := $(shell sysctl -n hw.ncpu 2>/dev/null || echo 4)
+else
+	NPROC := $(shell nproc --all 2>/dev/null || echo 4)
+endif
+
+.PHONY: pyinstall pyinstall_with_demo cppinstall cppinstall_with_demo
+
 pyinstall:
 	@python3 -m pip install --upgrade pip
-	@pip install numpy
 	@pip install --verbose ./python/
 
 pyinstall_with_demo: pyinstall
 	@pip install open3d==0.18.0
 
 cppinstall:
 	@cmake -Bcpp/build cpp/
-	@cmake --build cpp/build -j$(nproc --all)
+	@cmake --build cpp/build -j$(NPROC)
 
 cppinstall_with_demo:
 	@cmake -Bcpp/build cpp/ -DINCLUDE_CPP_EXAMPLES=ON
-	@cmake --build cpp/build -j$(nproc --all)
+	@cmake --build cpp/build -j$(NPROC)

README.md

@@ -36,10 +36,20 @@
 
 > What we need are just minimal dependencies.
 
+**Ubuntu / Debian:**
+
 ```commandline
 sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y
 ```
 
+**macOS** (Apple Silicon or Intel):
+
+```commandline
+brew install cmake
+```
+
+Eigen is fetched automatically by CMake, so no extra system package is required on macOS. The build works with the bundled AppleClang toolchain.
+
 </details>
 
 ## :gear: How to build & Run
@@ -124,7 +134,8 @@ In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][p
 
 ## :triangular_flag_on_post: Tested Environment
 
-- Ubuntu ~~18.04 and~~ 20.04 and 22.04
+- Ubuntu ~~18.04 and~~ 20.04, 22.04, and 24.04
+- macOS 14+ (Apple Silicon)
 - CMake 3.25.1 (>=3.20, min. Required to install Open3D)
   - In `scripts/install_open3d.bash`, the installation of the higher version of CMake is already implemented.
 - Open3D ~~0.15.2~~ 0.18.0

python/pyproject.toml

@@ -15,6 +15,9 @@ dependencies = [
 demo = [
 	"open3d-cpu>=0.17"
 ]
+test = [
+	"pytest"
+]
 
 [tool.scikit-build]
-cmake.args = ["-DINCLUDE_PYTHON_WRAPPER=true"]
+cmake.version = ">=3.18,<4"

python/tests/test_smoke.py

@@ -0,0 +1,30 @@
+import os
+
+import numpy as np
+import pypatchworkpp
+
+DATA_DIR = os.path.join(os.path.dirname(__file__), "..", "..", "data")
+
+
+def _read_bin(path):
+    return np.fromfile(path, dtype=np.float32).reshape(-1, 4)
+
+
+def test_module_imports_and_exposes_api():
+    assert hasattr(pypatchworkpp, "Parameters")
+    assert hasattr(pypatchworkpp, "patchworkpp")
+
+
+def test_estimate_ground_partitions_all_points():
+    params = pypatchworkpp.Parameters()
+    pp = pypatchworkpp.patchworkpp(params)
+
+    scan = _read_bin(os.path.join(DATA_DIR, "000000.bin"))
+    pp.estimateGround(scan)
+
+    ground = pp.getGround()
+    nonground = pp.getNonground()
+
+    assert ground.shape[0] > 0
+    assert nonground.shape[0] > 0
+    assert ground.shape[0] + nonground.shape[0] <= scan.shape[0]