gtsam-project-python

Prior factor for a 2d vector, created by Vladimir Tchuiev. Prelude to a larger 4-way factor for infering posterior epistemic classifier uncertainty.

PREREQUISITES

• Python 3.6+ is required, since we support these versions.

• Make the following changes to GTSAM:

  • Set the CMake flag GTSAM_INSTALL_CYTHON_TOOLBOX to ON to enable building the cython wrapper.

  • Set the CMake flag GTSAM_PYTHON_VERSION to 3, otherwise the default interpreter will be used.

  • You can do this on the command line as follows:

    cmake -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON -DGTSAM_PYTHON_VERSION=3 ..

INSTALL

• In the example directory, create the build directory and cd into it.
• Run cmake ...
• Run make, and the wrapped module will be installed to a cython directory.
• Navigate to the cython directory and run python setup.py install.

DOCUMENTATION

For more detailed information, please refer to the tutorial. I Don't have the time currently to make a detailed ReadMe for my specific case, may do that later. Note that the namespace in the CMakeLists.txt must be identical to the ones that appear in the .cpp and .h files, so I changed it manually to "gtsam". Note also that PyObject* type doesn't work well with the wrapper, so had to change it to gtsam::Vector.