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import os
import os.path as osp
from setuptools import setup, find_packages
from torch.utils.cpp_extension import BuildExtension, CUDAExtension
ROOT = osp.dirname(osp.abspath(__file__))
# Read the EIGEN_INCLUDE_DIR environment variable
eigen_include_dir = os.environ.get("EIGEN_INCLUDE_DIR")
if eigen_include_dir is None:
raise EnvironmentError(
"EIGEN_INCLUDE_DIR environment variable is not set. "
"Please set it in your .pixi.sh to the path of Eigen's include directory."
)
setup(
name="mini_dpvo",
packages=find_packages(include=["mini_dpvo", "mini_dpvo.*"]),
package_data={
# Include all header files in the 'include' directories
"mini_dpvo.lietorch": ["include/*.h"],
},
ext_modules=[
CUDAExtension(
"cuda_corr",
sources=[
"mini_dpvo/altcorr/correlation.cpp",
"mini_dpvo/altcorr/correlation_kernel.cu",
],
extra_compile_args={
"cxx": ["-O3"],
"nvcc": ["-O3"],
},
),
CUDAExtension(
"cuda_ba",
sources=["mini_dpvo/fastba/ba.cpp", "mini_dpvo/fastba/ba_cuda.cu"],
extra_compile_args={
"cxx": ["-O3"],
"nvcc": ["-O3"],
},
),
CUDAExtension(
"lietorch_backends",
include_dirs=[
osp.join(ROOT, "mini_dpvo/lietorch/include"),
eigen_include_dir, # Use the environment variable here
# osp.join(ROOT, ".pixi/envs/default/include/eigen3"),
],
sources=[
"mini_dpvo/lietorch/src/lietorch.cpp",
"mini_dpvo/lietorch/src/lietorch_gpu.cu",
"mini_dpvo/lietorch/src/lietorch_cpu.cpp",
],
extra_compile_args={
"cxx": ["-O3"],
"nvcc": ["-O3"],
},
),
],
cmdclass={"build_ext": BuildExtension},
)
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