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setup.py

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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 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},
+)