zed-python-api/src/setup.py at master · stereolabs/zed-python-api · GitHub

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# !/usr/bin/env python

########################################################################

# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR

# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT

# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY

# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

########################################################################

"""

Setup file to build, install, clean the pyzed package.

"""

import os

import sys

import shutil

import re

# FORCE CYTHON TO IGNORE PYTHRAN

# On some Linux systems (e.g. Jetson/Debian), Cython detects the system-installed 'pythran'

# package. Pythran then attempts to import the system 'scipy', which is linked against an older,

# system-provided NumPy (1.x). This triggers a binary incompatibility when running in a

# build environment that provides a newer NumPy (2.x).

sys.modules['pythran'] = None

# PRIORITIZE BUILD ENVIRONMENT OVER SYSTEM PACKAGES

# Standard system paths (like /usr/lib/python3/dist-packages) can sometimes take precedence

# over virtual environments or isolated build environments. If the system has an old NumPy (1.x)

# installed, setup.py might link against it instead of the NumPy 2.x we just installed in the

# build environment, leading to "numpy.dtype size changed" errors at runtime.

# We move system paths to the end of sys.path to ensure build dependencies are found first.

sys.path = [p for p in sys.path if "/usr/lib/python3/dist-packages" not in p] + \

[p for p in sys.path if "/usr/lib/python3/dist-packages" in p]

import numpy as np

import subprocess

from setuptools import setup, Extension

# Import Cython being careful with capitalization for non-modern Python environments

try:

from Cython.Build import cythonize

except ModuleNotFoundError as e:

if not sys.platform.startswith('win'):

raise ModuleNotFoundError(e)

# This is a workaround for Cython installation issues on Windows

# where the package is installed as 'cython' but internal imports expect 'Cython'

import sys

try:

import cython

# Add the cython module as 'Cython' in sys.modules so internal imports work

sys.modules['Cython'] = cython

# Also need to map the submodules

import cython.Build

import cython.Compiler

sys.modules['Cython.Build'] = cython.Build

sys.modules['Cython.Compiler'] = cython.Compiler

# Import all submodules that are needed

for attr_name in dir(cython):

attr = getattr(cython, attr_name)

if hasattr(attr, '__name__') and attr.__name__.startswith('cython.'):

capitalized_name = attr.__name__.replace('cython.', 'Cython.')

sys.modules[capitalized_name] = attr

# Now try the import again

from Cython.Build import cythonize

print("Successfully imported cythonize using workaround")

except (ImportError, ModuleNotFoundError, AttributeError) as e:

print(f"Cython import failed: {e}")

raise ImportError("Cython is not installed or not properly configured. Please install Cython to proceed.")

incDirs = ""

libDirs = ""

libs = ""

cflags = ""

ZED_SDK_MAJOR = "5"

ZED_SDK_MINOR = "0"

cuda_path = "/usr/local/cuda"

def check_zed_sdk_version_private(file_path):

global ZED_SDK_MAJOR

global ZED_SDK_MINOR

with open(file_path, "r", encoding="utf-8") as myfile:

data = myfile.read()

p = re.compile("ZED_SDK_MAJOR_VERSION (.*)")

major = p.search(data).group(1)

p = re.compile("ZED_SDK_MINOR_VERSION (.*)")

minor = p.search(data).group(1)

p = re.compile("ZED_SDK_PATCH_VERSION (.*)")

patch = p.search(data).group(1)

if major == ZED_SDK_MAJOR and minor >= ZED_SDK_MINOR:

print("ZED SDK Version: OK")

ZED_SDK_MAJOR = major

ZED_SDK_MINOR = minor

else:

print("WARNING ! Required ZED SDK version: " + ZED_SDK_MAJOR + "." + ZED_SDK_MINOR)

print("ZED SDK detected: " + major + "." + minor + "." + patch)

print("Aborting")

sys.exit(1)

def check_zed_sdk_version(file_path_):

dev_file_path = file_path_ + "/sl_zed/defines.hpp"

file_path = file_path_ + "/sl/Camera.hpp"

if os.path.isfile(dev_file_path):

# internal dev mode

check_zed_sdk_version_private(dev_file_path)

else:

check_zed_sdk_version_private(file_path)

def clean_cpp():

files_to_remove = [

"pyzed/camera.cpp",

"pyzed/core.cpp",

"pyzed/defines.cpp",

"pyzed/mesh.cpp",

"pyzed/types.cpp"

]

for f_path in files_to_remove:

if os.path.isfile(f_path):

os.remove(f_path)

if "clean" in "".join(sys.argv[1:]):

target = "clean"

else:

clean_cpp()

target = "build"

if "cleanall" in "".join(sys.argv[1:]):

target = "clean"

print("Deleting Cython files ..")

clean_cpp()

sys.argv[1] = "clean"

if os.path.isdir("build"):

shutil.rmtree("build")

sys.exit()

if sys.platform == "win32":

if os.getenv("ZED_SDK_ROOT_DIR") is None:

print("Error: ZED_SDK_ROOT_DIR is not set. You must install the ZED SDK and set this environment variable.")

sys.exit(1)

elif os.getenv("CUDA_PATH") is None:

print("Error: CUDA_PATH is not set. You must install Cuda and set this environment variable.")

sys.exit(1)

else:

check_zed_sdk_version(os.getenv("ZED_SDK_ROOT_DIR")+"/include")

incDirs = [np.get_include(), os.getenv("ZED_SDK_ROOT_DIR")+"/include",

os.getenv("CUDA_PATH") + "/include"]

libDirs = [os.getenv("ZED_SDK_ROOT_DIR")+"/lib",

os.getenv("CUDA_PATH")+"/lib/x64"]

libs = ["sl_zed64"]

elif "linux" in sys.platform:

zed_path = "/usr/local/zed"

if not os.path.isdir(zed_path):

print(f"Error: ZED SDK not found at {zed_path}. You must install the ZED SDK.")

sys.exit(1)

elif not os.path.isdir(cuda_path):

print(f"Error: CUDA not found at {cuda_path}. You must install Cuda.")

sys.exit(1)

else:

check_zed_sdk_version(zed_path+"/include")

incDirs = [np.get_include(),

zed_path + "/include",

cuda_path + "/include"]

libDirs = [zed_path + "/lib",

cuda_path + "/lib64"]

libs = ["sl_zed", "usb-1.0"]

cflags = ["-std=c++14", "-Wno-reorder", "-Wno-deprecated-declarations", "-Wno-cpp", "-O3"]

else:

print ("Unknown system.platform: %s Installation failed, see setup.py." % sys.platform)

sys.exit(1)

print ("compilation flags:", cflags)

print ("include dirs:", incDirs)

print ("library dirs:", libDirs)

print ("libraries:", libs)

cython_directives = {"embedsignature": True, "language_level": "3"}

def create_extension(name, sources):

global incDirs

global libDirs

global libs

global cflags

if sys.platform == "win32":

ext = Extension(name,

sources=sources,

include_dirs=incDirs,

library_dirs=libDirs,

libraries=libs,

language="c++"

)

return ext

elif "linux" in sys.platform:

ext = Extension(name,

sources=sources,

include_dirs=incDirs,

library_dirs=libDirs,

libraries=libs,

runtime_library_dirs=libDirs,

language="c++",

extra_compile_args=cflags

)

return ext

else:

print ("Unknown system.platform: %s" % sys.platform)

return None

extensions = list()

py_packages = ["pyzed"]

GPUmodulesTable = [("pyzed.sl", ["pyzed/sl.pyx"])]

for mod in GPUmodulesTable:

print ("Building module:", mod)

extension = create_extension(mod[0], mod[1])

if extension is None:

print(f"ERROR: Failed to create extension for {mod[0]}. Platform {sys.platform} might not be supported or configured correctly.")

sys.exit(1)

extList = cythonize(extension, compiler_directives=cython_directives)

extensions.extend(extList)

# Runtime requirements

install_requires = [

'cython>=3.0.0'

# NumPy requirement is added below based on Python version

]

# Numpy versioning based on Python version

# Numpy 2.0 dropped support for Python 3.8 and introduced ABI break

if (sys.version_info.major, sys.version_info.minor) <= (3, 8):

install_requires.append('numpy>=1.15,<2.0') # oldest-supported-numpy might build against ~1.15 for py38

else:

install_requires.append('numpy>=2.0,<3.0') # For py > 3.8, target numpy 2.x

print("Install requires:", install_requires)

# Build-time requirements

setup_requires = [

'setuptools>=42', # Good to have a recent setuptools for pyproject.toml compatibility (even if not used here)

'cython>=3.0.0',

]

# For Python versions that will use numpy < 2.0 at runtime,

# ensure oldest-supported-numpy doesn't try to pull numpy 2.0 at build time.

# oldest-supported-numpy itself handles Python compatibility, but this adds an explicit cap for older Pythons.

if (sys.version_info.major, sys.version_info.minor) <= (3, 8):

setup_requires.append('numpy<2.0')

print("Setup requires:", setup_requires)

# Generate stubs if we are not cleaning

if "clean" not in "".join(sys.argv[1:]):

current_dir = os.path.dirname(os.path.abspath(__file__))

stub_generator_path = os.path.join(current_dir, "generate_pyzed_stubs.py")

if os.path.isfile(stub_generator_path):

try:

print(f"Generating .pyi stubs using {stub_generator_path}...")

subprocess.check_call([sys.executable, stub_generator_path,

os.path.join(current_dir, "pyzed/sl.pyx"),

os.path.join(current_dir, "pyzed/sl.pyi")])

except Exception as e:

print(f"Warning: Failed to generate stubs: {e}")

setup(name="pyzed",

version= ZED_SDK_MAJOR + "." + ZED_SDK_MINOR,

author_email="developers@stereolabs.com",

description="Use the ZED SDK with Python",

url='https://github.com/stereolabs/zed-python-api',

packages=py_packages,

ext_modules=extensions,

python_requires='>=3.8',

setup_requires=setup_requires, # ADDED: For build-time dependencies

install_requires=install_requires,

extras_require={

'sample': [

'opencv-python',

'pyopengl',

]

package_data={

'pyzed': ['*.pyi'],

}

)

zed-python-api/src/setup.py at master · stereolabs/zed-python-api · GitHub

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