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README

Python Wrapper

This is the Python wrapper around the GTSAM C++ library. We use our custom wrap library to generate the bindings to the underlying C++ code.

For instructions on updating the version of the wrap library included in GTSAM to the latest version, please refer to the wrap README

Requirements

  • Cmake >= 3.15

  • If you want to build the GTSAM python library for a specific python version (eg 3.6), use the -DGTSAM_PYTHON_VERSION=3.6 option when running cmake otherwise the default interpreter will be used.

  • If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment), then the environment should be active while building GTSAM.

  • This wrapper needs pyparsing(>=2.4.2), pybind-stubgen>=2.5.1 and numpy(>=1.11.0). These can all be installed as follows:

    pip install -r <gtsam_folder>/python/dev_requirements.txt

Install

  • Run cmake with the GTSAM_BUILD_PYTHON cmake flag enabled to configure building the wrapper. The wrapped module will be built and copied to the directory <PROJECT_BINARY_DIR>/python. For example, if your local Python version is 3.6.10, then you should run:

    cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.6.10

    If you do not have TBB installed, you should also provide the argument -DGTSAM_WITH_TBB=OFF.

  • Build GTSAM and the wrapper with make (or ninja if you use -GNinja).

  • To install, simply run make python-install (ninja python-install).

    • The same command can be used to install into a virtual environment if it is active.
    • NOTE: if you don't want GTSAM to install to a system directory such as /usr/local, pass -DCMAKE_INSTALL_PREFIX="./install" to cmake to install GTSAM to a subdirectory of the build directory.

  • You can also directly run make python-install without running make, and it will compile all the dependencies accordingly.

Windows Installation

See Windows Installation in INSTALL.md in the root directory.

Generate Docstrings

The wrap library provides for building the Python wrapper with docstrings included, sourced from the C++ Doxygen comments. To build the Python wrapper with docstrings, follow these instructions:

  1. Build GTSAM with the flag -DGTSAM_GENERATE_DOC_XML=1. This will compile the doc/Doxyfile.in into a Doxyfile with GENERATE_XML set to ON.
  2. From the project root directory, run doxygen build/<build_name>/doc/Doxyfile. This will generate the Doxygen XML documentation in xml/.
  3. Build the Python wrapper with the CMake option GTWRAP_ADD_DOCSTRINGS enabled.

Unit Tests

The Python toolbox also has a small set of unit tests located in the test directory. To run them, use make python-test.

Utils

TODO

Examples

TODO

Writing Your Own Scripts

See the tests for examples.

Some Important Notes:

  • Vector/Matrix:

    • GTSAM expects double-precision floating point vectors and matrices. Hence, you should pass numpy matrices with dtype=float, or float64, to avoid any conversion needed.
    • Also, GTSAM expects column-major matrices, unlike the default storage scheme in numpy. But this is only performance-related as pybind11 should translate them when needed. However, this will result a copy if your matrix is not in the expected type and storage order.

Wrapping Custom GTSAM-based Project

Please refer to the template project and the corresponding tutorial available here.