30ee2b9409
Merge branch 'develop' into feature/ShonanCLI
2020-08-21 09:46:04 -04:00
9f660f9b98
Made 2D and 3D translation recovery work, and added plot
2020-08-20 23:26:29 -04:00
af7ced4112
Now plots 2D or 3D trajectories (on a 3D plot)
2020-08-20 23:25:51 -04:00
84e0bc5351
Added more support for Pose2 data
2020-08-20 23:25:28 -04:00
3d477f3a38
Fixed Point2 and Point3 to have similar behavior as in C++
...
- to also take vectors
- to be initialized to Nan
2020-08-20 18:50:47 -04:00
67ddcaf22d
Add missing newline
2020-08-20 18:17:44 -04:00
fb96e049c4
Fix Python wrapper with TBB on
2020-08-20 16:58:21 -04:00
96a59e6a14
Python CLI
2020-08-19 23:43:24 -04:00
cb2a8cd950
Added Shonan Averaging unit tests
2020-08-18 23:19:56 -04:00
8154dfd10b
Add dependency for python-install
2020-08-18 22:39:13 -04:00
3d846ef7a8
Reformat CMake files
2020-08-18 11:47:38 -04:00
cbddcd0f51
Add docs for preamble and specialization.h
2020-08-18 11:32:05 -04:00
0c3b08ef4c
Document tricks to allow direct import from xxx
2020-08-18 11:29:13 -04:00
09c1e3b3f4
Add documentation to the templates
2020-08-18 11:26:34 -04:00
60e0293511
update readme
2020-08-18 11:13:55 -04:00
d790f235a7
Add supplimentary files used by the new pybind11 wrapper
2020-08-18 11:03:51 -04:00
03306cba9c
Migrated all examples and tests
2020-08-18 11:02:35 -04:00
8a130c1a54
Remove eigency
2020-08-18 11:00:11 -04:00
6604b4f45b
Renamed cython to python
2020-08-18 10:56:08 -04:00
bb6aea3b8f
Remove python folder temporarily
2020-08-18 10:55:45 -04:00
723d00a40a
Small fixes
2020-08-17 19:21:06 -04:00
b0d100b8fb
Python supplementary files
2020-08-17 14:38:00 -04:00
fa97bc2372
Newline
2020-07-31 12:48:50 -04:00
c0486d39a0
Import classes used more than once
2020-07-31 12:47:08 -04:00
b02cc3f7e3
remove function import
2020-07-31 12:42:09 -04:00
1cabd2000f
Sync with new_wrapper develop branch
2020-07-31 12:39:04 -04:00
fda79057e4
import from is working
2020-07-31 12:16:25 -04:00
3d4a8e16a2
Moved python files
2020-07-31 11:49:31 -04:00
e9deca590a
Sync with varun's pr
2020-07-29 13:54:49 -04:00
08da0ab5a6
Change to new KeyVector accessor
2020-07-28 11:16:58 -04:00
b6ab778e96
Fix import typo
2020-07-28 11:05:24 -04:00
95b77f7634
sort imports in python examples
2020-07-27 21:25:44 -05:00
95d3582c2e
replaced SimpleCamera with PinholeCamera and updated tests
2020-07-27 21:25:27 -05:00
c8806dcb24
rename ImuFactorExample2 to more descriptive name
2020-07-27 21:01:47 -05:00
0b550b355f
update ImuFactorExample2.py
2020-07-27 21:01:47 -05:00
858f5d42d3
add incremental plotting function
2020-07-27 21:01:47 -05:00
e92c5e2ed4
fix warnings from subplots and improve code
2020-07-27 21:01:47 -05:00
7114cf93d3
update ImuFactorExample.py
2020-07-27 21:01:47 -05:00
bc95b41efc
Update more to match cython
2020-07-27 15:16:26 -04:00
7b4266ed6b
Update to match cython
2020-07-27 14:35:28 -04:00
128db80fec
Fix Pose2 plot
2020-07-27 11:17:06 -04:00
48b0c845dc
Sync ImuFactorExample2
2020-07-27 11:01:59 -04:00
2bda74950a
Sync ImuFactorExample
2020-07-27 10:56:09 -04:00
9216934ca8
Replace with new python tests
2020-07-27 09:32:31 -04:00
7873c36088
Add unstable files
2020-07-27 09:30:24 -04:00
c0c2564ac6
Copy cython files
2020-07-27 09:29:28 -04:00
e88282c31a
removed python
2019-05-19 11:30:32 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
...
# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
9a322db815
Added deprecation notice for python folder
2019-04-15 12:50:53 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
ae86bf0271
BackprojectFromCamera and some small fixes from Skydio
2018-05-11 15:13:14 -07:00
42e7e31340
Add new Pose3::bearing overload to Python wrapper
2017-03-13 10:31:37 -07:00
5482f1f5eb
[python] Make python library hidden by renaming gtsampy.so to _gtsampy.so
...
This commit also fixes a naming problem of the python .so module
(_libgtsam_python.so -> _gtsampy.so)
2017-03-07 15:24:36 -08:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
8c931f2839
Merged in EllonPaiva/gtsam/fix/python_warnings (pull request #261 )
...
[python] Use macro to avoid shared_ptr registration warnings in boost python
2016-06-13 16:29:19 -07:00
62e0cb6613
[python] Put the macro into a separated file (python/handwritten/common.h)
2016-06-13 15:18:24 +02:00
9de6d200b2
[python] Use macro to avoid shared_ptr registration warnings in boost python
...
Warning message was:
../lib/python2.7/site-packages/gtsam/__init__.py:1: RuntimeWarning: to-Python converter for boost::shared_ptr<CLASS_NAME> already registered; second conversion method ignored.
2016-06-10 10:15:29 +02:00
b30a7685db
Fix IMU example
2016-06-09 00:19:54 -07:00
a79be00dd6
no wrapping if typedef
2016-06-08 18:34:24 -07:00
be21889e9d
One flag to rule them all: GTSAM_TYPEDEF_POINTS_TO_VECTORS
2016-06-06 18:31:10 -07:00
bdbbe0203d
Derive Point2 from Vector2 and deprecate a number of methods
2016-06-05 23:52:04 -07:00
9f84b46e3f
TRying to get past compile issue on Jenkins
2016-06-05 01:16:35 -07:00
8aecbfd951
Trying different fix for Python wrapper
2016-06-05 01:04:18 -07:00
cdf9c53b96
Removed base class so python wrapper compiles
2016-06-04 17:52:10 -07:00
ad54d7805c
Return value, not const reference
2016-04-10 18:30:41 -07:00
1233a9c9b7
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
...
Conflicts:
gtsam.h
python/handwritten/nonlinear/Values.cpp
2016-04-10 17:40:26 -07:00
6ccc2a84b3
Deal with changes in Values
2016-04-10 17:26:29 -07:00
5c16caf38b
Wrap NonlinearFactorGraph's clone method to python
2016-02-26 14:47:05 +01:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
6d4cf0c115
Fix compile issue
2016-02-18 09:55:59 -08:00
a9b0d81be4
Yet another overload fix in python wrapper
2016-02-17 18:56:44 -08:00
df4efbf2d7
Fixed python wrapper issue
2016-02-17 17:42:20 -08:00
fefb74350a
Merge branch 'feature/lightweightPoint3' into feature/Vector3
...
Conflicts:
gtsam/geometry/Point3.cpp
2016-02-09 18:03:17 -08:00
90e7a9a194
Made all methods with derivatives available as free functions
2016-02-09 18:01:47 -08:00
3394e85ef7
Now allows for a flag to compile Point3 as derived from Vector3
2016-02-08 17:34:42 -08:00
4319bece1e
Deprecated some more methods
2016-02-08 15:16:11 -08:00
0560467bfc
Merge remote-tracking branch 'origin/fix/move_numpy_eigen' into feature/ImuFactorPush2
2016-01-28 16:57:12 -08:00
52f3432988
Moved numpy_eigen headers to a more logical place
2016-01-28 16:47:12 -08:00
1d62faa5a5
Refactored plot without underscores
2016-01-28 01:32:36 -08:00
c4494ba969
Small changes
2016-01-28 01:32:20 -08:00
659caa58c1
getNonlinearFactor
2016-01-28 01:32:02 -08:00
1b9b90803a
Committed to MATLAB atT methods
2016-01-28 01:31:44 -08:00
361101fdd9
Improved/refactored example
2016-01-28 01:31:05 -08:00
558dfa458a
Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
...
Conflicts:
gtsam/navigation/tests/testCombinedImuFactor.cpp
gtsam/navigation/tests/testImuFactor.cpp
2016-01-28 01:13:08 -08:00
1e1c0dbff1
Works with bias on all 6 axes !
2016-01-28 00:58:31 -08:00
dbe2fe59a3
Cleaned up, committed to atT
2016-01-28 00:58:07 -08:00
9dbe61a05e
Cleaned up plot
2016-01-28 00:57:24 -08:00
85e231bea5
Fully working !
2016-01-28 00:29:18 -08:00
c49a97a9c6
Fix initial values guess
2016-01-27 21:23:57 -08:00
1c19b4e803
More wrapping
2016-01-27 21:23:45 -08:00
7b60c50297
New method computeError, and more derivative checking (though, expression factors already checked out)
2016-01-27 16:51:09 -08:00
653a41bc5a
Compare prediction with actual navState in two scenarios
2016-01-27 15:15:55 -08:00
8126e6b51d
add navState method
2016-01-27 15:15:33 -08:00
ac6fb495a6
Full optimization
2016-01-27 14:16:18 -08:00
69a53f8e00
simplify keys
2016-01-27 14:16:09 -08:00
02e2b37b08
Add a few more template arguments
2016-01-27 14:15:50 -08:00
fa97e5d220
Better printing
2016-01-27 14:15:16 -08:00
3bb34679be
Split into two units
2016-01-27 13:17:03 -08:00
1ba304a2e3
Moved preintegration into separate example, inherit from it
2016-01-27 12:18:37 -08:00
b6ead53c25
Validate bias correction
2016-01-27 11:50:36 -08:00
6eece9cc60
Quaternion now also uppercase
2016-01-26 23:57:34 -08:00
d39759d8c8
Appropriate dt for integration
2016-01-26 21:37:22 -08:00
15dfd932f1
Tying up loose ends, ostream, get rid of cov_
2016-01-26 21:35:32 -08:00
ae867e8d6e
Integrate the IMU, plot the prediction
2016-01-26 18:13:28 -08:00
5f491ac52f
ScenarioRunner used to sumulate noise
2016-01-26 17:37:38 -08:00
8e54e00348
ScenarioRunner wrapped and tested
2016-01-26 17:37:23 -08:00
cf07c22c2c
Showing trajectory and ground truth quantities
2016-01-26 15:46:36 -08:00
ac57680dee
Interactive and shorthand symbols
2016-01-26 14:55:33 -08:00
ea3d72c66f
Show a loop Scenario
2016-01-26 14:41:55 -08:00
c25e1e6b73
Wrapped ConstantTwistScenario
2016-01-26 14:16:24 -08:00
a126c91d6f
Skeleton with interactive plotting
2016-01-26 13:19:25 -08:00
a6c265fda0
OdometryExample and necessary wrapping
2016-01-25 00:58:08 -08:00
312b8f5da0
Cleaned up example
2016-01-25 00:57:35 -08:00
6ee3e42d27
Update README
2016-01-25 00:09:51 -08:00
cd0215d9a8
Add back empty __init__.py file for gtsam_tests. Seems required to be able to do "import gtsam_tests", but it can be empty.
2016-01-24 23:47:36 -05:00
00da6d3f81
string concat the CMake 2.8-friendly way
2016-01-24 23:29:06 -05:00
8c0f928f11
Another attempt at fixing installation of _libgtsam_python.so. package_data is relative to package_dir, so the previous approach doesn't work when package_dir is in the source tree (and we don't want to copy the lib to source, or all of the source into lib). Using data_files method instead.
2016-01-24 23:22:40 -05:00
6b85a8db14
typo
2016-01-24 20:54:16 -05:00
7b493812e8
Adapt to new dir structure
2016-01-24 15:51:04 -08:00
0605abfea5
Chaned dir structure a bit
2016-01-24 15:50:31 -08:00
fb8a62dd1d
Used python.in to generate setup.py
...
Also fixed cmake stuff to copy library to correct location
Minor improvements of cmake
Automatic install of python package
2016-01-24 15:28:16 -08:00
4c44ddc4e6
Print all python-related dependency warnings at the end of cmake output with all the other warnings. Don't automatically toggle GTSAM_BUILD_PYTHON option to OFF - this is more consistent with how other options are handled.
2016-01-21 01:13:22 -05:00
c77997fbb1
Fixed typo
2016-01-19 23:18:39 -08:00
31888d653c
Remove CMake option to use 3rdparty numpy C-API
2016-01-19 14:45:34 -05:00
4f4d7c2af5
Add value_exists() and calculate_pose3_estimate to ISAM2 in python
2015-12-11 18:20:33 +01:00
383986902a
Add quaternion() method, use properly quaternion named constructor, and add some comments on RzRyRx
2015-12-11 18:19:05 +01:00
868f1511fc
Add Quaternion named constructor to Rot3 in the python module
2015-12-08 14:31:24 +01:00
46178731c6
"cmake -E copy_if_different" -> "cmake -E copy" for .py files
...
"cmake -E copy" is enough because it checks the timestamp to decide if it the
copy should be made or not.
2015-12-03 13:01:19 +01:00
31a88ba910
Remove some variables to improve readbility
2015-12-02 15:29:07 +01:00
87211319fb
Update python/README.md
2015-12-02 14:35:51 +01:00
4f509c2dff
Improve printing when copying .py files
2015-12-02 14:15:10 +01:00
81a1fe1c3a
Create a proper target to generate python/gtsam/_libgtsam_python.so in the build directory
2015-12-02 13:35:17 +01:00
4671b03e74
Only copy .py files if they've changed
2015-12-02 13:35:17 +01:00
768c594299
Copy python/gtsam to build/python directory
...
Not the best way since the gtsam module into build/python won't be updated if
.py files change in the python module.
2015-12-02 13:35:17 +01:00
888af6b948
Remove unused lines that generate warnings on CMake 3.4
2015-12-02 13:35:17 +01:00
2e4a96dc18
Do not store RPATH into _libgtsam_python.so
...
Since we're copying the .so from the build dir to python/gtsam _outside_ the
build dir, we should remove the rpath from the .so, so it will search the
library in the system, and not in the build directory, after installed using
setup.py
2015-12-02 13:35:17 +01:00
57373c8c47
Wrap Cayley methods to python only if not using Quaternions
2015-12-02 13:35:17 +01:00
dfc15a2f17
Rename python module related cmake variables to improve readability
2015-12-02 13:35:17 +01:00
eb798f88fe
Add NumPy C-API 1.8.2 to gtsam/3rdparty; Add option o use system or bundled one
2015-12-02 13:35:17 +01:00
40a567c1ed
Look for NumPy C-API if building the python module
2015-12-02 13:35:17 +01:00
d51c6f3313
Fix cmake to use default python and boost python versions
2015-12-02 13:35:17 +01:00
09ec306013
Update __ini__.py to be supported in python 2 and 3
2015-12-02 13:35:17 +01:00
72bcc4f08e
Change VisualISAM2Example to work with python 2 and python 3
2015-12-02 13:35:17 +01:00
dfa2b53eeb
import_array() --> import_array1()
2015-12-02 13:35:16 +01:00
5b116a4a67
Add option to chose target python version to create module
2015-12-02 13:35:16 +01:00
ea6ecdd9d5
Move subdirlist macro to cmake/GtsamPythonWrap.cmake
...
Conflicts:
cmake/GtsamPythonWrap.cmake
2015-12-02 13:35:16 +01:00
4f98ec889c
Fix python instalation using distutils
...
Conflicts:
python/README.md
2015-12-02 13:35:16 +01:00
d3db7309bc
Make libgtsam_python a hidden module by adding '_' before lib name
2015-12-02 13:35:16 +01:00
8fa1acc553
Move plot functions to a submodule utils
2015-12-02 13:35:16 +01:00
4f37929d80
Add ploting to VisualISAM2Example.py
2015-12-02 13:35:16 +01:00
46a1970731
Wrap KeyVector to python
...
While here, do small cleanup on exportgtsam.cpp
2015-12-02 13:35:16 +01:00
a6b48194fd
Print result of example to console
2015-12-02 13:35:16 +01:00
92bfcaa004
Wrap some properties of ISAM2Params to python
2015-12-02 13:35:16 +01:00
cba6085557
Add VisualISAM2Example. Still need to finish some details of the example
2015-12-02 13:35:16 +01:00
bc73a5132a
Wrap few more missing methods on ISAM2 and NonlinearFactorGraph
2015-12-02 13:35:16 +01:00
7576dc359d
Wrap more methods of Pose3 to python
2015-12-02 13:35:16 +01:00
8ae3dda6a6
Add helper functions to better handle gtsam.Symbol on python
2015-12-02 13:35:16 +01:00
49d02c798f
Wrap PinholeBaseK to python and declare it as parent of PinholeCamera
2015-12-02 13:35:16 +01:00
c878278687
Wrap GenericProjectionFactor to python
2015-12-02 13:35:16 +01:00
6196f95301
Wrap Cal3_S2 to python
2015-12-02 13:35:16 +01:00
818db17392
Wrap symbol to python
2015-12-02 13:35:16 +01:00
982d81e1c9
Add python version of SFMdata as gtsam.examples submodule
...
The gtsam.examples submodule should be loaded explicitely:
>>> import gtsam.examples
2015-12-02 13:35:16 +01:00
0e134c09db
Wrap PinholeCameraCal3_S2 to python
2015-12-02 13:35:16 +01:00
ade8ab4053
Remove old files which content was was already moved to other src files
2015-12-02 13:35:16 +01:00
05f6237f71
Define NO_IMPORT_ARRAY in all cpp files before including NumpyEigenConverter.hpp
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This fixes the segmentation fault when converting numpy and Eigen.
The reason is that NumpyEigenConverter.hpp includes numpy/arrayobject.h, and for
the numpy's C-API to work in multiple files we need to define NO_IMPORT_ARRAY
before including numpy/arrayobject.h in all the source files but the one that
defines the module initialization (exportgtsam.cpp in out case), as explained
here:
http://docs.scipy.org/doc/numpy/reference/c-api.array.html#importing-the-api
Note that PY_ARRAY_UNIQUE_SYMBOL, also needed to work multifile, is already
defined on NumpyEigenConverter.hpp.
2015-12-02 13:35:15 +01:00
c140a784fe
Add constness to matrices and vectors
2015-12-02 13:35:15 +01:00
d76ed71c99
Move my developments to the handwritten structure of files that existed before
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There's a problem with numpy_eigen causing a segmentation fault.
2015-12-02 13:35:15 +01:00
ffae37a675
Revert python module to use old handwritten files
...
Just noticed several handwritten files here. I'm reverting the python module to
use these handwritten files to later add the files I was wrapping to the same
framework.
Classes from geometry were wrapped for an old C++ interface, so several
boost python's .def(...) were commented out.
Conflicts:
python/gtsam/.gitignore
2015-12-02 13:35:15 +01:00
7680b533ac
Wrap basic functions of NonlinearFactorGraph and ISAM2
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While here, change method names for python convention on PEP0008
2015-12-02 13:35:15 +01:00
b10f7386c5
Wrap prior factors
2015-12-02 13:35:15 +01:00
72a800f70f
Add inheritance to from NonlinearFactor to BetweenFactor.
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Nonlinear factor is pure virtual, so we need to declare a wrapper, even
if we don't export anything from it.
Also, we don't make explicit all the chain of inheritance from BetweenFactor,
since it looks like exporting inheritance directly from NonlinearFactor allows
adding it to NonlinearFactorGraph.
2015-12-02 13:35:15 +01:00
828b230e17
Add overloads for named constructors on noiseModel module
2015-12-02 13:35:15 +01:00
9a97248ee4
Put classes in namespaces close to gtsam's C++ interface
2015-12-02 13:35:15 +01:00
6684f69d0a
Fix inheritance problem on python wrapping of noise models
2015-12-02 13:35:15 +01:00
72d73c6721
Add slam as submodule of gtsam python module
2015-12-02 13:35:15 +01:00
e0b8d87695
Wrap Values::insert and Values::at for Point3, Rot3, and Pose3
2015-12-02 13:35:15 +01:00
7cfd57339a
Add nonlinear submodule of gtsam python module
2015-12-02 13:35:15 +01:00
ff1cd140bb
Register convertion between numpy and eigen in a separated submodule
2015-12-02 13:35:14 +01:00
a0064f3aab
Add geometry submodule of python module
2015-12-02 13:35:14 +01:00
977d4aa54f
Add 'bases' for noiseModel classes
...
While here, add comments and TODOs
2015-12-02 13:35:14 +01:00
96d6b79f5e
Start organizing python module
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Organize gtsam modules into submodules. Start with a handwritten noiseModel
module.
Conflicts:
CMakeLists.txt
2015-12-02 13:35:14 +01:00
6a34fa0a22
Markdown readme
2015-12-02 13:35:14 +01:00
dca285a9d8
Remove library
2015-12-02 13:35:14 +01:00
20f5c46507
Reworked python directory structure. Added readme on constructing python module. Added first unit test for point2. Everything needed to get it passing is also here, including some renaming of variables and emitted library names
...
Conflicts:
cmake/GtsamPythonWrap.cmake
python/handwritten/examples/OdometeryExample.py
wrap/Module.cpp
2015-12-02 13:35:14 +01:00
4e00f70e82
Updating cmake build
2015-12-02 13:35:14 +01:00
def2f1a91c
Installation script for python Distutils for python package. Installs to default python dist-packages location call : python setup.py install
2015-12-02 13:35:14 +01:00
414e6b58f9
Finally fixed templates, moved into single library for simplicity, add noisemodels, nonlinear
2015-12-02 13:35:14 +01:00
d0efbadac8
Example on how to wrap templated classes such as factors
2015-12-02 13:35:14 +01:00
2455780829
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2015-12-02 13:35:14 +01:00
ec934770f3
Initial stages of python wrapping. Issues with method overloading, boost optionals. Testing with Point2 only now
2015-12-02 13:35:13 +01:00
Frank Dellaert
Frank dellaert
Fan Jiang
Varun Agrawal
dellaert
Duy-Nguyen Ta
Duy-Nguyen Ta
Frank Dellaert
Haldean Brown
Ellon Mendes
Abe
Frank Dellaert
Chris Beall
Andrew Melim