feat: initial infrastructures for multi-backend support

.github/workflows/pypi.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.7", "3.8"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
 
     steps:
       - name: Set up Python ${{ matrix.python-version }}

.github/workflows/unit_test.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.7", "3.8"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
 
     steps:
       - uses: actions/checkout@v3
@@ -25,6 +25,12 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           pip install -e .[dev]
-      - name: Run unit tests
+      - name: Run unit tests (numpy)
+        run: |
+          pytest
+      - name: Install dependencies with torch
+        run: |
+          pip install -e .[torch]
+      - name: Run unit tests (numpy + torch)
         run: |
           pytest

camtools/__init__.py

@@ -1,4 +1,5 @@
 from . import artifact
+from . import backend
 from . import camera
 from . import colmap
 from . import colormap
@@ -14,9 +15,9 @@
 from . import sanity
 from . import solver
 from . import transform
+from . import typing
 from . import util
 
-
 try:
     # Python >= 3.8
     from importlib.metadata import version

camtools/backend.py

@@ -0,0 +1,84 @@
+import typing
+import warnings
+from functools import lru_cache, wraps
+from inspect import signature
+from typing import Literal
+
+import ivy
+import jaxtyping
+
+# Internally use "from camtools.backend import ivy" to make sure ivy is imported
+# after the warnings filter is set. This is a temporary workaround to suppress
+# the deprecation warning from numpy 2.0.
+warnings.filterwarnings(
+    "ignore",
+    category=DeprecationWarning,
+    message=".*numpy.core.numeric is deprecated.*",
+)
+import ivy
+
+_default_backend = "numpy"
+
+
+@lru_cache(maxsize=None)
+def is_torch_available():
+    try:
+        import torch
+
+        return True
+    except ImportError:
+        return False
+
+
+def set_backend(backend: Literal["numpy", "torch"]) -> None:
+    """
+    Set the default backend for camtools.
+    """
+    global _default_backend
+    _default_backend = backend
+
+
+def get_backend() -> str:
+    """
+    Get the default backend for camtools.
+    """
+    return _default_backend
+
+
+def with_native_backend(func):
+    """
+    1. Enable default camtools backend.
+    2. Return native backend array (setting array mode to False).
+    3. Converts lists to tensors if the type hint is a tensor.
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        og_backend = ivy.current_backend()
+        ct_backend = get_backend()
+        ivy.set_backend(ct_backend)
+
+        # Unpack args and type hints
+        sig = signature(func)
+        bound_args = sig.bind(*args, **kwargs)
+        arg_name_to_hint = typing.get_type_hints(func)
+
+        try:
+            with warnings.catch_warnings():
+                warnings.simplefilter("ignore", category=UserWarning)
+                with ivy.ArrayMode(False):
+                    # Convert list -> native tensor if the type hint is a tensor
+                    for arg_name, arg in bound_args.arguments.items():
+                        if arg_name in arg_name_to_hint and issubclass(
+                            arg_name_to_hint[arg_name], jaxtyping.AbstractArray
+                        ):
+                            if isinstance(arg, list):
+                                bound_args.arguments[arg_name] = ivy.native_array(arg)
+
+                    # Call the function
+                    result = func(*bound_args.args, **bound_args.kwargs)
+        finally:
+            ivy.set_backend(og_backend)
+        return result
+
+    return wrapper

camtools/typing.py

@@ -0,0 +1,164 @@
+import typing
+from distutils.version import LooseVersion
+from functools import wraps
+from inspect import signature
+from typing import Any, Tuple, Union
+
+import jaxtyping
+import numpy as np
+import pkg_resources
+
+from . import backend
+
+try:
+    # Try to import _FixedDim and _NamedDim from jaxtyping. This are internal
+    # classes where the APIs are not stable. There are no guarantees that these
+    # classes will be available in future versions of jaxtyping.
+    _jaxtyping_version = pkg_resources.get_distribution("jaxtyping").version
+    if LooseVersion(_jaxtyping_version) >= LooseVersion("0.2.20"):
+        from jaxtyping._array_types import _FixedDim, _NamedDim
+    else:
+        from jaxtyping.array_types import _FixedDim, _NamedDim
+except ImportError:
+    raise ImportError(
+        f"Failed to import _FixedDim and _NamedDim. with "
+        f"jaxtyping version {_jaxtyping_version}."
+    )
+
+
+class Tensor:
+    """
+    An abstract tensor type for type hinting only.
+    Typically np.ndarray or torch.Tensor is supported.
+    """
+
+    pass
+
+
+def _dtype_to_str(dtype):
+    """
+    Convert numpy or torch dtype to string
+
+    - "bool"
+    - "bool_"
+    - "uint4"
+    - "uint8"
+    - "uint16"
+    - "uint32"
+    - "uint64"
+    - "int4"
+    - "int8"
+    - "int16"
+    - "int32"
+    - "int64"
+    - "bfloat16"
+    - "float16"
+    - "float32"
+    - "float64"
+    - "complex64"
+    - "complex128"
+    """
+    if isinstance(dtype, np.dtype):
+        return dtype.name
+
+    if backend.is_torch_available():
+        import torch
+
+        if isinstance(dtype, torch.dtype):
+            return str(dtype).split(".")[1]
+
+    return ValueError(f"Unknown dtype {dtype}.")
+
+
+def _shape_from_dims(
+    dims: Tuple[
+        Union[_FixedDim, _NamedDim],
+        ...,
+    ]
+) -> Tuple[Union[int, None], ...]:
+    shape = []
+    for dim in dims:
+        if isinstance(dim, _FixedDim):
+            shape.append(dim.size)
+        elif isinstance(dim, _NamedDim):
+            shape.append(None)
+    return tuple(shape)
+
+
+def _is_shape_compatible(
+    arg_shape: Tuple[Union[int, None], ...],
+    gt_shape: Tuple[Union[int, None], ...],
+) -> bool:
+    if len(arg_shape) != len(gt_shape):
+        return False
+
+    return all(
+        arg_dim == gt_dim or gt_dim is None
+        for arg_dim, gt_dim in zip(arg_shape, gt_shape)
+    )
+
+
+def _assert_tensor_hint(
+    hint: jaxtyping.AbstractArray,
+    arg: Any,
+    arg_name: str,
+):
+    """
+    Args:
+        hint: A type hint for a tensor, must be javtyping.AbstractArray.
+        arg: An argument to check, typically a tensor.
+        arg_name: The name of the argument, for error messages.
+    """
+    # Check array types.
+    if backend.is_torch_available():
+        import torch
+
+        valid_array_types = (np.ndarray, torch.Tensor)
+    else:
+        valid_array_types = (np.ndarray,)
+    if not isinstance(arg, valid_array_types):
+        raise TypeError(
+            f"{arg_name} must be a tensor of type {valid_array_types}, "
+            f"but got type {type(arg)}."
+        )
+
+    # Check shapes.
+    gt_shape = _shape_from_dims(hint.dims)
+    if not _is_shape_compatible(arg.shape, gt_shape):
+        raise TypeError(
+            f"{arg_name} must be a tensor of shape {gt_shape}, "
+            f"but got shape {arg.shape}."
+        )
+
+    # Check dtype.
+    gt_dtypes = hint.dtypes
+    if _dtype_to_str(arg.dtype) not in gt_dtypes:
+        raise TypeError(
+            f"{arg_name} must be a tensor of dtype {gt_dtypes}, "
+            f"but got dtype {_dtype_to_str(arg.dtype)}."
+        )
+
+
+def check_shape_and_dtype(func):
+    """
+    A decorator to enforce type and shape specifications as per type hints.
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        sig = signature(func)
+        bound_args = sig.bind_partial(*args, **kwargs)
+        bound_args.apply_defaults()
+
+        arg_name_to_arg = bound_args.arguments
+        arg_name_to_hint = typing.get_type_hints(func)
+
+        for arg_name, arg in arg_name_to_arg.items():
+            if arg_name in arg_name_to_hint:
+                hint = arg_name_to_hint[arg_name]
+                if issubclass(hint, jaxtyping.AbstractArray):
+                    _assert_tensor_hint(hint, arg, arg_name)
+
+        return func(*args, **kwargs)
+
+    return wrapper

pyproject.toml

@@ -16,12 +16,14 @@ dependencies = [
   "matplotlib>=3.3.4",
   "scikit-image>=0.16.2",
   "tqdm>=4.60.0",
+  "ivy>=0.0.8.0",
+  "jaxtyping>=0.2.12",
 ]
 description = "CamTools: Camera Tools for Computer Vision."
 license = {text = "MIT"}
 name = "camtools"
 readme = "README.md"
-requires-python = ">=3.6.0"
+requires-python = ">=3.8.0"
 version = "0.1.4"
 
 [project.scripts]