Improve the project's CMake and Python structure to aid packaging (#6)

* Adjust CMake to use more standard dependency names

* Don't force shared libraries

* Improve CMake installation logic

* Replace setup.py with pyproject.toml

* Add small_gicp-config.cmake.in to set dependencies correctly

CMakeLists.txt

@@ -1,24 +1,23 @@
 cmake_minimum_required(VERSION 3.16)
-project(small_gicp)
+project(small_gicp VERSION 0.0.1 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 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()
 
-# Eigen is the sole mandatory dependency
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
-find_package(Eigen3 REQUIRED)
+option(CMAKE_POSITION_INDEPENDENT_CODE "Generate position-independent code" ON)
-find_package(OpenMP)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 
 option(BUILD_HELPER "Build helper library" ON)
 option(BUILD_TESTS "Build tests" OFF)
 option(BUILD_EXAMPLES "Build examples" OFF)
 option(BUILD_BENCHMARKS "Build benchmarks" OFF)
+set(BUILD_WITH_OPENMP CACHE STRING "Build with OpenMP" "auto")
 option(BUILD_WITH_TBB "Build with TBB" ON)
 option(BUILD_WITH_PCL "Build with PCL (required for benchmark and test only)" OFF)
 option(BUILD_WITH_FAST_GICP "Build with fast_gicp (required for benchmark and test only)" OFF)
@@ -27,10 +26,18 @@ option(BUILD_WITH_MARCH_NATIVE "Build with -march=native" OFF)
 option(ENABLE_COVERAGE "Enable coverage" OFF)
 option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
 
+# Eigen is the sole mandatory dependency
+find_package(Eigen3 REQUIRED CONFIG)
+
+if(BUILD_WITH_OPENMP STREQUAL "auto")
+  find_package(OpenMP)
+  set(BUILD_WITH_OPENMP ${OpenMP_FOUND})
+elseif(BUILD_WITH_OPENMP)
+  find_package(OpenMP REQUIRED)
+endif()
+
 if(BUILD_WITH_MARCH_NATIVE)
   add_compile_options(-march=native)
-  set(CMAKE_C_FLAGS "-march=native ${CMAKE_C_FLAGS}")
-  set(CMAKE_CXX_FLAGS "-march=native ${CMAKE_CXX_FLAGS}")
 endif()
 
 ##############
@@ -50,46 +57,36 @@ if(ENABLE_COVERAGE)
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
 endif()
 
-#############
-## Install ##
-#############
-install(DIRECTORY include/ DESTINATION include)
-
 ###########
 ## Build ##
 ###########
 
+include_directories(include)
+
 # Helper library
 if(BUILD_HELPER)
-  add_library(small_gicp_helper SHARED
+  add_library(small_gicp
     src/small_gicp/registration/registration.cpp
     src/small_gicp/registration/registration_helper.cpp
   )
-  target_include_directories(small_gicp_helper PUBLIC
+  target_include_directories(small_gicp PUBLIC
-    include
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    ${EIGEN3_INCLUDE_DIR}
+    $<INSTALL_INTERFACE:include>
   )
-  target_link_libraries(small_gicp_helper
+  target_link_libraries(small_gicp PUBLIC
-    OpenMP::OpenMP_CXX
+    Eigen3::Eigen
+    $<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
   )
-
-  install(TARGETS small_gicp_helper DESTINATION lib)
 endif()
 
-find_package(Python COMPONENTS Interpreter Development)
-find_package(pybind11 CONFIG)
-
 # Python bindings
 if(BUILD_PYTHON_BINDINGS)
-  pybind11_add_module(small_gicp src/python/python.cpp)
+  find_package(Python COMPONENTS Interpreter Development REQUIRED)
-  target_include_directories(small_gicp PUBLIC
+  find_package(pybind11 CONFIG REQUIRED)
-    include
+
-    ${EIGEN3_INCLUDE_DIR}
+  pybind11_add_module(small_gicp_python src/python/python.cpp)
-  )
+  set_target_properties(small_gicp_python PROPERTIES OUTPUT_NAME small_gicp)
-  target_link_libraries(small_gicp PRIVATE
+  target_link_libraries(small_gicp_python PRIVATE small_gicp)
-    small_gicp_helper
-    OpenMP::OpenMP_CXX
-  )
 endif()
 
 ###############
@@ -104,6 +101,13 @@ if(BUILD_BENCHMARKS)
   if (BUILD_WITH_PCL)
     find_package(PCL REQUIRED)
     add_compile_definitions(BUILD_WITH_PCL)
+    if (NOT TARGET PCL::PCL)
+      add_library(PCL::PCL INTERFACE IMPORTED)
+      set_target_properties(PCL::PCL PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${PCL_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${PCL_LIBRARIES}"
+      )
+    endif()
   endif()
   if (BUILD_WITH_IRIDESCENCE)
     find_package(Iridescence REQUIRED)
@@ -132,34 +136,28 @@ if(BUILD_BENCHMARKS)
     src/benchmark/odometry_benchmark.cpp
   )
   target_include_directories(odometry_benchmark PUBLIC
-    include
-    ${PCL_INCLUDE_DIRS}
-    ${TBB_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIR}
-    ${Iridescence_INCLUDE_DIRS}
     ${FAST_GICP_INCLUDE_DIR}
   )
-  target_link_libraries(odometry_benchmark
+  target_link_libraries(odometry_benchmark PRIVATE
     fmt::fmt
-    OpenMP::OpenMP_CXX
+    Eigen3::Eigen
-    ${PCL_LIBRARIES}
+    $<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
-    ${TBB_LIBRARIES}
+    Iridescence::Iridescence
-    ${Iridescence_LIBRARIES}
+    TBB::tbb
+    TBB::tbbmalloc
+    PCL::PCL
   )
 
   # KdTree construction benchmark
   add_executable(kdtree_benchmark
     src/benchmark/kdtree_benchmark.cpp
   )
-  target_include_directories(kdtree_benchmark PUBLIC
+  target_link_libraries(kdtree_benchmark PRIVATE
-    include
-    ${TBB_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIR}
-  )
-  target_link_libraries(kdtree_benchmark
     fmt::fmt
-    OpenMP::OpenMP_CXX
+    Eigen3::Eigen
-    ${TBB_LIBRARIES}
+    $<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
+    TBB::tbb
+    TBB::tbbmalloc
   )
 
   if(BUILD_WITH_PCL)
@@ -167,17 +165,13 @@ if(BUILD_BENCHMARKS)
     add_executable(downsampling_benchmark
       src/benchmark/downsampling_benchmark.cpp
     )
-    target_include_directories(downsampling_benchmark PUBLIC
+    target_link_libraries(downsampling_benchmark PRIVATE
-      include
-      ${PCL_INCLUDE_DIRS}
-      ${TBB_INCLUDE_DIRS}
-      ${EIGEN3_INCLUDE_DIR}
-    )
-    target_link_libraries(downsampling_benchmark
       fmt::fmt
-      OpenMP::OpenMP_CXX
+      Eigen3::Eigen
-      ${PCL_LIBRARIES}
+      $<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
-      ${TBB_LIBRARIES}
+      TBB::tbb
+      TBB::tbbmalloc
+      PCL::PCL
     )
   endif()
 endif()
@@ -194,18 +188,12 @@ if(BUILD_EXAMPLES)
   foreach(EXAMPLE_SOURCE ${EXAMPLE_SOURCES})
     get_filename_component(EXAMPLE_NAME ${EXAMPLE_SOURCE} NAME_WE)
     add_executable(${EXAMPLE_NAME} ${EXAMPLE_SOURCE})
-    target_include_directories(${EXAMPLE_NAME} PUBLIC
+    target_link_libraries(${EXAMPLE_NAME} PRIVATE
-      include
+      small_gicp
-      ${PCL_INCLUDE_DIRS}
-      ${TBB_INCLUDE_DIRS}
-      ${EIGEN3_INCLUDE_DIR}
-    )
-    target_link_libraries(${EXAMPLE_NAME}
-      small_gicp_helper
       fmt::fmt
-      OpenMP::OpenMP_CXX
+      TBB::tbb
-      ${PCL_LIBRARIES}
+      TBB::tbbmalloc
-      ${TBB_LIBRARIES}
+      PCL::PCL
     )
   endforeach()
 endif()
@@ -225,21 +213,73 @@ if(BUILD_TESTS)
   foreach(TEST_SOURCE ${TEST_SOURCES})
     get_filename_component(TEST_NAME ${TEST_SOURCE} NAME_WE)
     add_executable(${TEST_NAME} ${TEST_SOURCE})
-    target_include_directories(${TEST_NAME} PUBLIC
+    target_link_libraries(${TEST_NAME} PRIVATE
-      include
+      small_gicp
-      ${PCL_INCLUDE_DIRS}
-      ${TBB_INCLUDE_DIRS}
-      ${EIGEN3_INCLUDE_DIR}
-    )
-    target_link_libraries(${TEST_NAME}
-      small_gicp_helper
       fmt::fmt
-      OpenMP::OpenMP_CXX
       GTest::gtest_main
-      ${PCL_LIBRARIES}
+      TBB::tbb
-      ${TBB_LIBRARIES}
+      TBB::tbbmalloc
+      PCL::PCL
     )
 
     gtest_discover_tests(${TEST_NAME} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
   endforeach()
 endif()
+
+
+#############
+## Install ##
+#############
+
+include(GNUInstallDirs)
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+if(BUILD_HELPER)
+  install(TARGETS small_gicp
+    EXPORT small_gicp-targets
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  )
+  set(CMAKE_CONFIG_INSTALL_DIR
+    "${CMAKE_INSTALL_LIBDIR}/cmake/small_gicp"
+    CACHE PATH "Install directory for CMake config files"
+  )
+  include(CMakePackageConfigHelpers)
+  install(EXPORT small_gicp-targets
+    FILE small_gicp-targets.cmake
+    NAMESPACE small_gicp::
+    DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  )
+  configure_package_config_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/small_gicp-config.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config.cmake"
+    INSTALL_DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  )
+  write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config-version.cmake"
+    VERSION ${VERSION}
+    COMPATIBILITY SameMajorVersion
+  )
+  install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config-version.cmake"
+    DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  )
+  install(FILES
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindTBB.cmake"
+    DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  )
+endif()
+
+if(BUILD_PYTHON_BINDINGS)
+  if(DEFINED SKBUILD_PROJECT_NAME)
+    set(PYTHON_INSTALL_DIR .)
+  elseif(NOT DEFINED PYTHON_INSTALL_DIR)
+    set(PYTHON_INSTALL_DIR lib/python${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}/site-packages)
+  endif()
+  install(TARGETS small_gicp_python small_gicp
+    LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
+    COMPONENT python
+  )
+endif()

cmake/FindGTSAM.cmake

@@ -10,16 +10,20 @@ find_library(GTSAM_UNSTABLE_LIB NAMES gtsam_unstable
   HINTS /usr/local/lib /usr/lib
   DOC "GTSAM_UNSTABLE libraries")
 
-find_library(TBB_LIB NAMES tbb
+find_dependency(TBB REQUIRED)
-  HINTS /usr/local/lib /usr/lib
-  DOC "TBB libraries")
 
-find_library(TBB_MALLOC_LIB NAMES tbbmalloc
+add_library(gtsam INTERFACE IMPORTED GLOBAL)
-  HINTS /usr/local/lib /usr/lib
+set_target_properties(gtsam PROPERTIES
-  DOC "TBB malloc libraries")
+  INTERFACE_INCLUDE_DIRECTORIES "${GTSAM_INCLUDE_DIRS}"
+  INTERFACE_LINK_LIBRARIES "${GTSAM_LIB} TBB::tbb TBB::tbbmalloc")
 
-if(GTSAM_LIB AND GTSAM_UNSTABLE_LIB AND TBB_LIB)
+add_library(gtsam_unstable INTERFACE IMPORTED GLOBAL)
-  set(GTSAM_LIBRARIES ${GTSAM_LIB} ${GTSAM_UNSTABLE_LIB} ${TBB_LIB} ${TBB_MALLOC_LIB})
+set_target_properties(gtsam_unstable PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${GTSAM_INCLUDE_DIRS}"
+  INTERFACE_LINK_LIBRARIES "${GTSAM_UNSTABLE_LIB} gtsam")
+
+if(GTSAM_LIB AND GTSAM_UNSTABLE_LIB AND TARGET TBB::tbb AND TARGET TBB::tbbmalloc)
+  set(GTSAM_LIBRARIES gtsam gtsam_unstable)
 endif()
 
 include(FindPackageHandleStandardArgs)

cmake/FindIridescence.cmake

@@ -12,5 +12,10 @@ find_library(Iridescence_LIBRARY NAMES iridescence
 
 set(Iridescence_LIBRARIES ${Iridescence_LIBRARY} ${gl_imgui_LIBRARY})
 
+add_library(Iridescence::Iridescence INTERFACE IMPORTED GLOBAL)
+set_target_properties(Iridescence::Iridescence PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${Iridescence_INCLUDE_DIRS}"
+  INTERFACE_LINK_LIBRARIES "${Iridescence_LIBRARIES}")
+
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(Iridescence DEFAULT_MSG Iridescence_INCLUDE_DIRS Iridescence_LIBRARIES)

cmake/FindTBB.cmake

@@ -6,9 +6,22 @@ find_library(TBB_LIB NAMES tbb
   HINTS /usr/local/lib /usr/lib /usr/lib/x86_64-linux-gnu
   DOC "TBB libraries")
 
-# if(GTSAM_LIB AND GTSAM_UNSTABLE_LIB AND TBB_LIB)
+find_library(TBB_MALLOC_LIB NAMES tbbmalloc
-if(TBB_LIB)
+  HINTS /usr/local/lib /usr/lib
-  set(TBB_LIBRARIES ${TBB_LIB})
+  DOC "TBB malloc libraries")
+
+add_library(TBB::tbb INTERFACE IMPORTED GLOBAL)
+set_target_properties(TBB::tbb PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIRS}"
+  INTERFACE_LINK_LIBRARIES "${TBB_LIBRARIES}")
+
+add_library(TBB::tbbmalloc INTERFACE IMPORTED GLOBAL)
+set_target_properties(TBB::tbbmalloc PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIRS}"
+  INTERFACE_LINK_LIBRARIES "${TBB_LIBRARIES}")
+
+if(TBB_LIB AND TBB_MALLOC_LIB)
+  set(TBB_LIBRARIES TBB::tbb TBB::tbbmalloc)
 endif()
 
 include(FindPackageHandleStandardArgs)

cmake/small_gicp-config.cmake.in

@@ -0,0 +1,28 @@
+# Config file for the small_gicp package
+#
+# Usage from an external project:
+#
+#  find_package(small_gicp REQUIRED)
+#  target_link_libraries(MY_TARGET_NAME small_gicp::small_gicp)
+#
+# Optionally, for TBB support in *_tbb.hpp headers also add:
+#
+#  find_package(TBB REQUIRED)
+#  target_link_libraries(MY_TARGET_NAME TBB::tbb TBB::tbbmalloc)
+#
+@PACKAGE_INIT@
+
+include_guard()
+
+set(BUILD_WITH_OPENMP @BUILD_WITH_OPENMP@)
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3 REQUIRED)
+if (BUILD_WITH_OPENMP)
+  find_dependency(OpenMP REQUIRED COMPONENTS CXX)
+endif()
+
+# For FindTBB.cmake
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
+
+include("${CMAKE_CURRENT_LIST_DIR}/small_gicp-targets.cmake")

pyproject.toml

@@ -1,3 +1,37 @@
 [build-system]
-requires = ["setuptools>=42", "wheel", "pybind11>2.10.0"]
+requires = ["scikit-build-core >=0.4.3", "pybind11 >2.10.0"]
-build-backend = "setuptools.build_meta"
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "small_gicp"
+version = "0.0.1"
+authors = [{name = "Kenji Koide", email = "k.koide@aist.go.jp"}]
+description = "Efficient and parallelized algorithms for fine point cloud registration"
+readme = "README.md"
+license = {text = "MIT"}
+requires-python = ">=3.7"
+
+[project.urls]
+Homepage = "https://github.com/koide3/small_gicp"
+
+[project.optional-dependencies]
+test = ["pytest>=6.0"]
+
+[tool.setuptools]
+zip_safe = false
+
+[tool.scikit-build]
+wheel.license-files = ["LICENSE"]
+install.components = ["python"]
+build-dir = "build/{wheel_tag}"
+wheel.py-api = "cp312" # Build stable ABI wheels for CPython 3.12+
+
+[tool.scikit-build.cmake.define]
+BUILD_PYTHON_BINDINGS = true
+BUILD_SHARED_LIBS = false
+
+[tool.cibuildwheel]
+build = "*"
+skip = "pp*" # Don't build for PyPy
+test-command = "pytest {project}/src --color=yes -v"
+build-verbosity = 1

setup.py

@@ -1,137 +0,0 @@
-import os
-import re
-import subprocess
-import sys
-from pathlib import Path
-
-from setuptools import Extension, setup
-from setuptools.command.build_ext import build_ext
-
-# Convert distutils Windows platform specifiers to CMake -A arguments
-PLAT_TO_CMAKE = {
-    "win32": "Win32",
-    "win-amd64": "x64",
-    "win-arm32": "ARM",
-    "win-arm64": "ARM64",
-}
-
-
-# A CMakeExtension needs a sourcedir instead of a file list.
-# The name must be the _single_ output extension from the CMake build.
-# If you need multiple extensions, see scikit-build.
-class CMakeExtension(Extension):
-    def __init__(self, name: str, sourcedir: str = "") -> None:
-        super().__init__(name, sources=[])
-        self.sourcedir = os.fspath(Path(sourcedir).resolve())
-
-
-class CMakeBuild(build_ext):
-    def build_extension(self, ext: CMakeExtension) -> None:
-        # Must be in this form due to bug in .resolve() only fixed in Python 3.10+
-        ext_fullpath = Path.cwd() / self.get_ext_fullpath(ext.name)
-        extdir = ext_fullpath.parent.resolve()
-
-        # Using this requires trailing slash for auto-detection & inclusion of
-        # auxiliary "native" libs
-
-        debug = int(os.environ.get("DEBUG", 0)) if self.debug is None else self.debug
-        cfg = "Debug" if debug else "Release"
-
-        # CMake lets you override the generator - we need to check this.
-        # Can be set with Conda-Build, for example.
-        cmake_generator = os.environ.get("CMAKE_GENERATOR", "")
-
-        # Set Python_EXECUTABLE instead if you use PYBIND11_FINDPYTHON
-        # EXAMPLE_VERSION_INFO shows you how to pass a value into the C++ code
-        # from Python.
-        cmake_args = [
-            f"-DBUILD_PYTHON_BINDINGS=ON",
-            f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}{os.sep}",
-            f"-DCMAKE_BUILD_TYPE={cfg}",  # not used on MSVC, but no harm
-        ]
-        build_args = []
-        # Adding CMake arguments set as environment variable
-        # (needed e.g. to build for ARM OSx on conda-forge)
-        if "CMAKE_ARGS" in os.environ:
-            cmake_args += [item for item in os.environ["CMAKE_ARGS"].split(" ") if item]
-
-        if self.compiler.compiler_type != "msvc":
-            # Using Ninja-build since it a) is available as a wheel and b)
-            # multithreads automatically. MSVC would require all variables be
-            # exported for Ninja to pick it up, which is a little tricky to do.
-            # Users can override the generator with CMAKE_GENERATOR in CMake
-            # 3.15+.
-            if not cmake_generator or cmake_generator == "Ninja":
-                try:
-                    import ninja
-
-                    ninja_executable_path = Path(ninja.BIN_DIR) / "ninja"
-                    cmake_args += [
-                        "-GNinja",
-                        f"-DCMAKE_MAKE_PROGRAM:FILEPATH={ninja_executable_path}",
-                    ]
-                except ImportError:
-                    pass
-
-        else:
-            # Single config generators are handled "normally"
-            single_config = any(x in cmake_generator for x in {"NMake", "Ninja"})
-
-            # CMake allows an arch-in-generator style for backward compatibility
-            contains_arch = any(x in cmake_generator for x in {"ARM", "Win64"})
-
-            # Specify the arch if using MSVC generator, but only if it doesn't
-            # contain a backward-compatibility arch spec already in the
-            # generator name.
-            if not single_config and not contains_arch:
-                cmake_args += ["-A", PLAT_TO_CMAKE[self.plat_name]]
-
-            # Multi-config generators have a different way to specify configs
-            if not single_config:
-                cmake_args += [
-                    f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{cfg.upper()}={extdir}"
-                ]
-                build_args += ["--config", cfg]
-
-        if sys.platform.startswith("darwin"):
-            # Cross-compile support for macOS - respect ARCHFLAGS if set
-            archs = re.findall(r"-arch (\S+)", os.environ.get("ARCHFLAGS", ""))
-            if archs:
-                cmake_args += ["-DCMAKE_OSX_ARCHITECTURES={}".format(";".join(archs))]
-
-        # Set CMAKE_BUILD_PARALLEL_LEVEL to control the parallel build level
-        # across all generators.
-        if "CMAKE_BUILD_PARALLEL_LEVEL" not in os.environ:
-            # self.parallel is a Python 3 only way to set parallel jobs by hand
-            # using -j in the build_ext call, not supported by pip or PyPA-build.
-            if hasattr(self, "parallel") and self.parallel:
-                # CMake 3.12+ only.
-                build_args += [f"-j{self.parallel}"]
-
-        build_temp = Path(self.build_temp) / ext.name
-        if not build_temp.exists():
-            build_temp.mkdir(parents=True)
-
-        subprocess.run(
-            ["cmake", ext.sourcedir, *cmake_args], cwd=build_temp, check=True
-        )
-        subprocess.run(
-            ["cmake", "--build", ".", *build_args], cwd=build_temp, check=True
-        )
-
-
-# The information here can also be placed in setup.cfg - better separation of
-# logic and declaration, and simpler if you include description/version in a file.
-setup(
-    name="small_gicp",
-    version="0.0.1",
-    author="Kenji Koide",
-    author_email="k.koide@aist.go.jp",
-    description="Efficient and parallelized algorithms for fine point cloud registration",
-    long_description="",
-    ext_modules=[CMakeExtension("small_gicp")],
-    cmdclass={"build_ext": CMakeBuild},
-    zip_safe=False,
-    extras_require={"test": ["pytest>=6.0"]},
-    python_requires=">=3.7",
-)