Support Pydantic V2

This updates the code to be compatible with Pydantic V2. We also introduce a smoke test for importing `kiss_icp`. It's still just a smoke test, but does a bit more than only calling `kiss_icp_pipeline --version`. The latter would also pass with Pydantic V2 being installed, while the import would fail. Co-authored-by: pnikutta <[email protected]>
PRBonn · Jan 12, 2024 · 2ea5794 · 2ea5794
1 parent 3848ee9
commit 2ea5794
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Showing 4 changed files with 21 additions and 6 deletions.
diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
@@ -25,3 +25,7 @@ jobs:
       - name: Test installation
         run: |
           kiss_icp_pipeline --version
+      - name: Run unittests
+        run: |
+          python -m pip install --verbose './python[test]'
+          pytest -rA --verbose ./python/
diff --git a/python/kiss_icp/config/parser.py b/python/kiss_icp/config/parser.py
@@ -28,7 +28,8 @@
 from pathlib import Path
 from typing import Any, Dict, Optional
 
-from pydantic import BaseSettings, PrivateAttr
+from pydantic import PrivateAttr
+from pydantic_settings import BaseSettings
 
 from kiss_icp.config.config import AdaptiveThresholdConfig, DataConfig, MappingConfig
 
@@ -60,10 +61,9 @@ def _yaml_source(self) -> Dict[str, Any]:
                 data = yaml.safe_load(cfg_file)
         return data or {}
 
-    class Config:
-        @classmethod
-        def customise_sources(cls, init_settings, env_settings, file_secret_settings):
-            return init_settings, KISSConfig._yaml_source
+    @classmethod
+    def customise_sources(cls, init_settings, env_settings, file_secret_settings):
+        return init_settings, KISSConfig._yaml_source
 
 
 def load_config(

diff --git a/python/pyproject.toml b/python/pyproject.toml
@@ -38,7 +38,8 @@ dependencies = [
     "natsort",
     "numpy",
     "plyfile",
-    "pydantic <2",
+    "pydantic>=2",
+    "pydantic-settings",
     "pyquaternion",
     "rich",
     "tqdm",
@@ -53,6 +54,9 @@ all = [
     "PyYAML",
     "trimesh",
 ]
+test = [
+    "pytest",
+]
 visualizer = [
     "open3d>=0.13",
 ]
@@ -89,3 +93,6 @@ skip = ["*-musllinux*",  "pp*", "cp36-*"]
 [tool.cibuildwheel.macos]
 environment = "MACOSX_DEPLOYMENT_TARGET=10.14"
 archs = ["auto64", "arm64"]
+
+[tool.pytest.ini_options]
+testpaths = ['tests']
diff --git a/python/tests/test_kiss_icp.py b/python/tests/test_kiss_icp.py
@@ -0,0 +1,4 @@
+def test_import():
+    from kiss_icp.kiss_icp import KissICP
+
+    assert KissICP is not None