Nanobind

CMakeLists.txt

@@ -14,6 +14,15 @@ set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 include(FetchContent)
 
+# Make build a release build unless otherwise specified
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+    set_property(
+        CACHE CMAKE_BUILD_TYPE
+        PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo"
+    )
+endif()
+
 # ------------------------- Dependencies ------------------------- #
 # Pull eigen if it's not available already
 FetchContent_Declare(

cpp/bindings/CMakeLists.txt

@@ -35,16 +35,23 @@ endif()
 message("###############################################################")
 
 # ------------------------- Make Python Bindings ------------------------- #
-set(PYBIND11_FINDPYTHON ON)
+find_package(
+    Python
+    3.11
+    REQUIRED
+    COMPONENTS Interpreter Development.Module
+    OPTIONAL_COMPONENTS Development.SABIModule
+)
+
 FetchContent_Declare(
-    pybind11
-    GIT_REPOSITORY https://github.com/pybind/pybind11.git
-    GIT_TAG v2.13.6
-    FIND_PACKAGE_ARGS # uses find_package first, git if it fails
+    nanobind
+    GIT_REPOSITORY https://github.com/wjakob/nanobind
+    GIT_TAG v2.7.0
+    # FIND_PACKAGE_ARGS # uses find_package first, git if it fails
 )
-FetchContent_MakeAvailable(pybind11)
+FetchContent_MakeAvailable(nanobind)
 
-pybind11_add_module(_cpp main.cpp)
+nanobind_add_module(_cpp STABLE_ABI NB_STATIC main.cpp)
 target_link_libraries(_cpp PRIVATE ${LIBS})
 target_compile_definitions(_cpp PRIVATE ${DEF})
 install(TARGETS _cpp DESTINATION evalio)

cpp/bindings/main.cpp

@@ -1,14 +1,15 @@
-#include <pybind11/eigen.h>
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
+#include <nanobind/nanobind.h>
 
 #include "bindings/pipelines/bindings.h"
 #include "bindings/ros_pc2.h"
 #include "bindings/types.h"
 #include "evalio/bindings.h"
 
-PYBIND11_MODULE(_cpp, m) {
+namespace nb = nanobind;
+
+NB_MODULE(_cpp, m) {
+  m.def("abi_tag", []() { return nb::detail::abi_tag(); });
+
   auto m_types = m.def_submodule(
       "types",
       "Common types used for conversion between datasets and pipelines.");

cpp/bindings/pipelines/bindings.h

@@ -1,14 +1,11 @@
 #pragma once
 
-#include <pybind11/eigen.h>
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
+#include <nanobind/nanobind.h>
 
 #include "evalio/pipeline.h"
 
-namespace py = pybind11;
-using namespace pybind11::literals;
+namespace nb = nanobind;
+using namespace nb::literals;
 
 #ifdef EVALIO_KISS_ICP
 #include "bindings/pipelines/kiss_icp.h"
@@ -19,20 +16,20 @@ using namespace pybind11::literals;
 #endif
 
 namespace evalio {
-inline void makePipelines(py::module &m) {
+inline void makePipelines(nb::module_ &m) {
   // List all the pipelines here
 #ifdef EVALIO_KISS_ICP
-  py::class_<KissICP, evalio::Pipeline>(m, "KissICP")
-      .def(py::init<>())
+  nb::class_<KissICP, evalio::Pipeline>(m, "KissICP")
+      .def(nb::init<>())
       .def_static("name", &KissICP::name)
       .def_static("url", &KissICP::url)
       .def_static("default_params", &KissICP::default_params);
 
 #endif
 
 #ifdef EVALIO_LIO_SAM
-  py::class_<LioSam, evalio::Pipeline>(m, "LioSAM")
-      .def(py::init<>())
+  nb::class_<LioSam, evalio::Pipeline>(m, "LioSAM")
+      .def(nb::init<>())
       .def_static("name", &LioSam::name)
       .def_static("url", &LioSam::url)
       .def_static("default_params", &LioSam::default_params);

cpp/bindings/ros_pc2.h

@@ -1,17 +1,18 @@
 #pragma once
 #include <cmath>
 #include <cstddef>
-#include <pybind11/eigen.h>
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
+#include <nanobind/eigen/dense.h>
+#include <nanobind/nanobind.h>
+#include <nanobind/operators.h>
+#include <nanobind/stl/string.h>
+#include <nanobind/stl/vector.h>
 
 #include <fstream>
 
 #include "evalio/types.h"
 
-namespace py = pybind11;
-using namespace pybind11::literals;
+namespace nb = nanobind;
+using namespace nb::literals;
 
 namespace evalio {
 
@@ -363,8 +364,8 @@ inline LidarMeasurement helipr_bin_to_evalio(const std::string &filename,
 }
 
 // ---------------------- Create python bindings ---------------------- //
-inline void makeConversions(py::module &m) {
-  py::enum_<DataType>(m, "DataType")
+inline void makeConversions(nb::module_ &m) {
+  nb::enum_<DataType>(m, "DataType")
       .value("UINT8", DataType::UINT8)
       .value("INT8", DataType::INT8)
       .value("UINT16", DataType::UINT16)
@@ -374,29 +375,31 @@ inline void makeConversions(py::module &m) {
       .value("FLOAT32", DataType::FLOAT32)
       .value("FLOAT64", DataType::FLOAT64);
 
-  py::class_<Field>(m, "Field")
-      .def(py::init<std::string, DataType, uint32_t>(), py::kw_only(), "name"_a,
+  nb::class_<Field>(m, "Field")
+      .def(nb::init<std::string, DataType, uint32_t>(), nb::kw_only(), "name"_a,
            "datatype"_a, "offset"_a)
-      .def_readwrite("name", &Field::name)
-      .def_readwrite("datatype", &Field::datatype)
-      .def_readwrite("offset", &Field::offset);
+      .def_rw("name", &Field::name)
+      .def_rw("datatype", &Field::datatype)
+      .def_rw("offset", &Field::offset);
 
-  py::class_<PointCloudMetadata>(m, "PointCloudMetadata")
-      .def(py::init<evalio::Stamp, int, int, int, int, int, int>(),
-           py::kw_only(), "stamp"_a, "width"_a, "height"_a, "point_step"_a,
+  nb::class_<PointCloudMetadata>(m, "PointCloudMetadata")
+      .def(nb::init<evalio::Stamp, int, int, int, int, int, int>(),
+           nb::kw_only(), "stamp"_a, "width"_a, "height"_a, "point_step"_a,
            "row_step"_a, "is_bigendian"_a, "is_dense"_a)
-      .def_readwrite("stamp", &PointCloudMetadata::stamp)
-      .def_readwrite("width", &PointCloudMetadata::width)
-      .def_readwrite("height", &PointCloudMetadata::height)
-      .def_readwrite("point_step", &PointCloudMetadata::point_step)
-      .def_readwrite("row_step", &PointCloudMetadata::row_step)
-      .def_readwrite("is_bigendian", &PointCloudMetadata::is_bigendian)
-      .def_readwrite("is_dense", &PointCloudMetadata::is_dense);
-
-  m.def("pc2_to_evalio", [](const PointCloudMetadata &msg,
-                            const std::vector<Field> &fields, char *c) {
-    return pc2_to_evalio(msg, fields, reinterpret_cast<uint8_t *>(c));
-  });
+      .def_rw("stamp", &PointCloudMetadata::stamp)
+      .def_rw("width", &PointCloudMetadata::width)
+      .def_rw("height", &PointCloudMetadata::height)
+      .def_rw("point_step", &PointCloudMetadata::point_step)
+      .def_rw("row_step", &PointCloudMetadata::row_step)
+      .def_rw("is_bigendian", &PointCloudMetadata::is_bigendian)
+      .def_rw("is_dense", &PointCloudMetadata::is_dense);
+
+  m.def("pc2_to_evalio",
+        [](const PointCloudMetadata &msg, const std::vector<Field> &fields,
+           nb::bytes c) -> evalio::LidarMeasurement {
+          return pc2_to_evalio(msg, fields,
+                               reinterpret_cast<const uint8_t *>(c.c_str()));
+        });
 
   m.def("fill_col_row_major", &fill_col_row_major);
   m.def("fill_col_col_major", &fill_col_col_major);