Compile for Mac

.gitignore

@@ -259,3 +259,6 @@ cython_debug/
 #######################################
 # get rid of output folder
 _build/
+
+# macos
+.DS_Store

CMakeLists.txt

@@ -1,6 +1,17 @@
 cmake_minimum_required(VERSION 3.16.)
 project(diffCheck VERSION 1.3.0 LANGUAGES CXX C)
 set(CMAKE_CXX_STANDARD 17)
+# set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
+
+# Force usage of libc++ and proper visibility on macOS
+# For some reason, without this, there will be a segfault in test
+if(APPLE)
+    add_compile_options(-stdlib=libc++ -fvisibility=hidden -Wall)
+    add_link_options(-stdlib=libc++)
+endif()
+
+# # Set rpath for Python extension loading on macOS
+# set(CMAKE_MACOSX_RPATH ON)
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
@@ -40,27 +51,31 @@ endif()
 set(SHARED_LIB_NAME diffCheck)
 
 file(GLOB_RECURSE SOURCES_LIB 
-    src/diffCheck.hh                         # diffCheck interface
-    src/diffCheck/*.cc src/diffCheck/*.hh    # diffCheck src  
-    )
-
-add_library(${SHARED_LIB_NAME} SHARED ${SOURCES_LIB})
+    src/diffCheck.hh                          # diffCheck interface
+    src/diffCheck/*.cc src/diffCheck/*.hh     # diffCheck src
+    src/diffCheck/*/*.cc src/diffCheck/*/*.hh # diffCheck submodules
+)
+
+# print the sources founded
+add_library(${SHARED_LIB_NAME} STATIC ${SOURCES_LIB})
+
+# if (WIN32)
+#     set_target_properties(${SHARED_LIB_NAME} PROPERTIES
+#         WINDOWS_EXPORT_ALL_SYMBOLS TRUE
+#         )
+# endif()
+set_target_properties(${SHARED_LIB_NAME} PROPERTIES
+    ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+)
 
-if (WIN32)
-    set_target_properties(${SHARED_LIB_NAME} PROPERTIES
-        WINDOWS_EXPORT_ALL_SYMBOLS TRUE
-        )
-endif()
-    set_target_properties(${SHARED_LIB_NAME} PROPERTIES
-        RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin  # for dll
-        ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib  # for lib
-        )
 target_include_directories(${SHARED_LIB_NAME}
     PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src
-    )
+)
 
 #set the MD_DynamicRelease flag for MSVC since we are compiling with /MD for py wrap
-set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
+# set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
 
 
 #--------------------------------------------------------------------------
@@ -73,29 +88,31 @@ add_subdirectory(deps/eigen)
 target_link_libraries(${SHARED_LIB_NAME} PUBLIC Eigen3::Eigen)
 
 # Open3D (pre-built binaries) ---------------------------------------------
-download_submodule_project(open3d)
-set(Open3D_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/open3d/win/0_18/CMake)
-find_package(Open3D 0.18.0 REQUIRED)
+# download_submodule_project(open3d)
+# set(Open3D_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/open3d/win/0_18/CMake)
+# find_package(Open3D 0.18.0 REQUIRED)
+
+# # print the version debug or release of the package
+# message(STATUS "Open3D version: ${Open3D_VERSION}"
+#                "Open3D include dir: ${Open3D_INCLUDE_DIRS}"
+#                "Open3D library dir: ${Open3D_LIBRARIES}")
 
-# print the version debug or release of the package
-message(STATUS "Open3D version: ${Open3D_VERSION}"
-               "Open3D include dir: ${Open3D_INCLUDE_DIRS}"
-               "Open3D library dir: ${Open3D_LIBRARIES}")
 
+find_package(Open3D HINTS ${CMAKE_INSTALL_PREFIX}/lib/cmake)
 # link the release version of the open3d library
 target_link_libraries(${SHARED_LIB_NAME} PUBLIC Open3D::Open3D)
 
 # On Windows if BUILD_SHARED_LIBS is enabled, copy .dll files to the executable directory
-if(WIN32)
-    get_target_property(open3d_type Open3D::Open3D TYPE)
-    if(open3d_type STREQUAL "SHARED_LIBRARY")
-        message(STATUS "Copying Open3D.dll to ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_BUILD_TYPE}")
-        add_custom_command(TARGET ${SHARED_LIB_NAME} POST_BUILD
-            COMMAND ${CMAKE_COMMAND} -E copy
-            $<TARGET_FILE:Open3D::Open3D>
-            $<TARGET_FILE_DIR:${SHARED_LIB_NAME}>)
-    endif()
-endif()
+# if(WIN32)
+#     get_target_property(open3d_type Open3D::Open3D TYPE)
+#     if(open3d_type STREQUAL "SHARED_LIBRARY")
+#         message(STATUS "Copying Open3D.dll to ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_BUILD_TYPE}")
+#         add_custom_command(TARGET ${SHARED_LIB_NAME} POST_BUILD
+#             COMMAND ${CMAKE_COMMAND} -E copy
+#             $<TARGET_FILE:Open3D::Open3D>
+#             $<TARGET_FILE_DIR:${SHARED_LIB_NAME}>)
+#     endif()
+# endif()
 
 # Boost (header only) -----------------------------------------------------
 download_submodule_project(boost)
@@ -116,28 +133,30 @@ target_link_libraries(${SHARED_LIB_NAME} PUBLIC loguru::loguru)
 #--------------------------------------------------------------------------
 # executable for prototyping
 #--------------------------------------------------------------------------
-set(APP_NAME_EXE diffCheckApp)
+# set(APP_NAME_EXE diffCheckApp)
 
-add_executable(${APP_NAME_EXE} src/diffCheckApp.cc)
+# add_executable(${APP_NAME_EXE} src/diffCheckApp.cc)
 
-set_target_properties(${APP_NAME_EXE} PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
-    )
+# set_target_properties(${APP_NAME_EXE} PROPERTIES
+#     RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+#     )
 
-target_link_libraries(${APP_NAME_EXE} ${SHARED_LIB_NAME})
+# target_link_libraries(${APP_NAME_EXE} ${SHARED_LIB_NAME})
 
-target_include_directories(${APP_NAME_EXE}
-    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src
-    )
+# target_include_directories(${APP_NAME_EXE}
+#     PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src
+# )
 
 #--------------------------------------------------------------------------
 # pybind11
 #--------------------------------------------------------------------------
+add_definitions(-D_GLIBCXX_DEBUG)
+
 if (BUILD_PYTHON_MODULE)
     set(PYBINDMODULE_NAME diffcheck_bindings)
-    set(PYPI_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/gh/diffCheck/diffCheck)
-    set(TARGET_DLL_PYPI_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/gh/diffCheck/diffCheck/dlls)
-    set(SPHINX_DOC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/doc)
+    # set(PYPI_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/gh/diffCheck/diffCheck)
+    # set(TARGET_DLL_PYPI_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/gh/diffCheck/diffCheck/dlls)
+    # set(SPHINX_DOC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/doc)
 
     download_submodule_project(pybind11)
     add_subdirectory(deps/pybind11)
@@ -151,27 +170,40 @@ if (BUILD_PYTHON_MODULE)
 
     set(PYBIND11_PYTHON_VERSION 3.9.10)
 
-    pybind11_add_module(${PYBINDMODULE_NAME} src/diffCheckBindings.cc)
+    pybind11_add_module(${PYBINDMODULE_NAME}
+        MODULE
+        src/diffCheckBindings.cc
+    )
 
-    target_link_libraries(${PYBINDMODULE_NAME} PUBLIC ${SHARED_LIB_NAME})
     target_include_directories(${PYBINDMODULE_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)
+    target_link_libraries(${PYBINDMODULE_NAME} PUBLIC ${SHARED_LIB_NAME})
 
     # copy the pyd file to the pypi directory
-    add_custom_command(TARGET ${PYBINDMODULE_NAME} POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E copy
-        $<TARGET_FILE:${PYBINDMODULE_NAME}>
-        ${PYPI_DIR}
-        )
-    copy_dlls(${TARGET_DLL_PYPI_DIR} ${PYBINDMODULE_NAME})
-    # copy the pyd/dlls for the sphinx documentation
-    add_custom_command(TARGET ${PYBINDMODULE_NAME} POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E copy
-        $<TARGET_FILE:${PYBINDMODULE_NAME}>
-        ${SPHINX_DOC_DIR}
-        )
-    copy_dlls(${SPHINX_DOC_DIR} ${PYBINDMODULE_NAME})
+    # add_custom_command(TARGET ${PYBINDMODULE_NAME} POST_BUILD
+    #     COMMAND ${CMAKE_COMMAND} -E copy
+    #     $<TARGET_FILE:${PYBINDMODULE_NAME}>
+    #     ${PYPI_DIR}
+    #     )
+    # copy_dlls(${TARGET_DLL_PYPI_DIR} ${PYBINDMODULE_NAME})
+    # # copy the pyd/dlls for the sphinx documentation
+    # add_custom_command(TARGET ${PYBINDMODULE_NAME} POST_BUILD
+    #     COMMAND ${CMAKE_COMMAND} -E copy
+    #     $<TARGET_FILE:${PYBINDMODULE_NAME}>
+    #     ${SPHINX_DOC_DIR}
+    #     )
+    # copy_dlls(${SPHINX_DOC_DIR} ${PYBINDMODULE_NAME})
 endif()
 
+# install the diffCheck shared library to the system path
+install(TARGETS ${SHARED_LIB_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+
+
+
 #--------------------------------------------------------------------------
 # Tests
 #--------------------------------------------------------------------------

portability_experiment/README.md

@@ -0,0 +1,10 @@
+# Experiment on Mac
+1. Install diffCheck library (replace <user_name> with your user name)
+```
+/Users/<user_name>/.rhinocode/py39-rh8/python3.9 -m pip install diffcheck-1.3.0-py3-none-any.whl --force-reinstal
+```
+
+2. Open the `subtractive_gh_v1_mac_portability.gh` file, the expected result would be:
+![](./expected_result.png)
+
+There should be no error before the Segmentation.

src/diffCheck/geometry/DFPointCloud.cc

@@ -118,11 +118,33 @@ namespace diffCheck::geometry
 
     std::vector<Eigen::Vector3d> DFPointCloud::GetAxixAlignedBoundingBox()
     {
+        if (this->Points.empty()) {
+            return {Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero()};
+        }
+
+        Eigen::Vector3d minBound, maxBound;
+
+#ifdef __APPLE__
+        // Compute min and max bounds directly from points
+        minBound = this->Points.front();
+        maxBound = this->Points.front();
+
+        for (const auto& point : this->Points) {
+            minBound = minBound.cwiseMin(point);
+            maxBound = maxBound.cwiseMax(point);
+        }
+#else
         auto O3DPointCloud = this->Cvt2O3DPointCloud();
         auto boundingBox = O3DPointCloud->GetAxisAlignedBoundingBox();
-        std::vector<Eigen::Vector3d> extremePoints;
-        extremePoints.push_back(boundingBox.GetMinBound());
+
+        boundingBox.GetMinBound());
         extremePoints.push_back(boundingBox.GetMaxBound());
+
+#endif
+        std::vector<Eigen::Vector3d> extremePoints;
+        extremePoints.push_back(minBound);
+        extremePoints.push_back(maxBound);
+
         return extremePoints;
     }
 

src/diffCheck/log.cc

@@ -2,21 +2,21 @@
 
 namespace diffCheck
 {
-    void Log::Init()
-    {
-        int argc = 1;
-        char* argv[] = { "loguru", nullptr };
-        loguru::init(argc, argv);
-        loguru::add_file("diffCheckEvery.log", loguru::Truncate, loguru::Verbosity_MAX);
-        loguru::add_file("diffCheckErrors.log", loguru::Truncate, loguru::Verbosity_ERROR);
+    // void Log::Init()
+    // {
+    //     int argc = 1;
+    //     char* argv[] = { "loguru", nullptr };
+    //     loguru::init(argc, argv);
+    //     loguru::add_file("diffCheckEvery.log", loguru::Truncate, loguru::Verbosity_MAX);
+    //     loguru::add_file("diffCheckErrors.log", loguru::Truncate, loguru::Verbosity_ERROR);
 
-        loguru::g_stderr_verbosity = 1;
-        loguru::g_colorlogtostderr = true;
-        loguru::g_preamble = false;
-    }
+    //     loguru::g_stderr_verbosity = 1;
+    //     loguru::g_colorlogtostderr = true;
+    //     loguru::g_preamble = false;
+    // }
 
-    void Log::Shutdown()
-    {
-        loguru::shutdown();
-    }
+    // void Log::Shutdown()
+    // {
+    //     loguru::shutdown();
+    // }
 }

src/diffCheck/log.hh

@@ -11,8 +11,25 @@ namespace diffCheck
         ~Log() { Shutdown(); }
 
     private:
-        void Init();
-        void Shutdown();
+        // void Init();
+        // void Shutdown();
+        void Init()
+        {
+            // int argc = 1;
+            // char* argv[] = { "loguru", nullptr };
+            // loguru::init(argc, argv);
+            // loguru::add_file("diffCheckEvery.log", loguru::Truncate, loguru::Verbosity_MAX);
+            // loguru::add_file("diffCheckErrors.log", loguru::Truncate, loguru::Verbosity_ERROR);
+
+            // loguru::g_stderr_verbosity = 1;
+            // loguru::g_colorlogtostderr = true;
+            // loguru::g_preamble = false;
+        }
+
+        void Shutdown()
+        {
+            // loguru::shutdown();
+        }
     };
 }
 

src/diffCheck/segmentation/DFSegmentation.hh

@@ -34,7 +34,7 @@ namespace diffCheck::segmentation
          * @param associationThreshold the threshold to consider the points of a segment and a mesh face as associable. It is the ratio between the surface of the closest mesh triangle and the sum of the areas of the three triangles that form the rest of the pyramid described by the mesh triangle and the point we want to associate or not. The lower the number, the more strict the association will be and some poinnts on the mesh face might be wrongfully excluded.
          * @return std::shared_ptr<geometry::DFPointCloud> The unified segments
          */
-        static std::vector<std::shared_ptr<geometry::DFPointCloud>> DFSegmentation::AssociateClustersToMeshes(
+        static std::vector<std::shared_ptr<geometry::DFPointCloud>> AssociateClustersToMeshes(
             bool isCylinder,
             std::vector<std::shared_ptr<geometry::DFMesh>> referenceMesh,
             std::vector<std::shared_ptr<geometry::DFPointCloud>> &clusters,
@@ -49,7 +49,7 @@ namespace diffCheck::segmentation
          * * @param angleThreshold the threshold to consider the a cluster as potential candidate for association. the value passed is the minimum sine of the angles. A value of 0 requires perfect alignment (angle = 0), while a value of 0.1 allows an angle of 5.7 degrees. 
          * @param associationThreshold the threshold to consider the points of a segment and a mesh face as associable. It is the ratio between the surface of the closest mesh triangle and the sum of the areas of the three triangles that form the rest of the pyramid described by the mesh triangle and the point we want to associate or not. The lower the number, the more strict the association will be and some poinnts on the mesh face might be wrongfully excluded.   
          */
-        static void DFSegmentation::CleanUnassociatedClusters(
+        static void CleanUnassociatedClusters(
             bool isCylinder,
             std::vector<std::shared_ptr<geometry::DFPointCloud>> &unassociatedClusters,
             std::vector<std::shared_ptr<geometry::DFPointCloud>> &existingPointCloudSegments,

src/diffCheckApp.cc

@@ -12,6 +12,7 @@
 
 int main()
 {
+
   std::cout << "Hello, World!" << std::endl;
   return 0;
 }

src/gh/components/DF_pose_comparator/code.py

@@ -0,0 +1,19 @@
+#! python3
+
+
+
+from ghpythonlib.componentbase import executingcomponent as component
+
+
+class DFPoseComparator(component):
+    def RunScript(self,
+            i_scan,
+            i_assembly):
+        # dump the xml
+        o_xml = None
+        xml: str = i_assembly.to_xml()
+        if i_dump:
+            i_assembly.dump_xml(xml, i_export_dir)
+        o_xml = xml
+
+        return o_xml