68 lines
3.0 KiB
Markdown
68 lines
3.0 KiB
Markdown
# README
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# Python Wrapper
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This is the Python wrapper around the GTSAM C++ library. We use our custom [wrap library](https://github.com/borglab/wrap) to generate the bindings to the underlying C++ code.
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For instructions on updating the version of the [wrap library](https://github.com/borglab/wrap) included in GTSAM to the latest version, please refer to the [wrap README](https://github.com/borglab/wrap/blob/master/README.md#git-subtree-and-contributing)
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## Requirements
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- Cmake >= 3.15
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- If you want to build the GTSAM python library for a specific python version (eg 3.6),
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use the `-DGTSAM_PYTHON_VERSION=3.6` option when running `cmake` otherwise the default interpreter will be used.
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- If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment),
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then the environment should be active while building GTSAM.
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- This wrapper needs [pyparsing(>=2.4.2)](https://github.com/pyparsing/pyparsing), [pybind-stubgen>=2.5.1](https://github.com/sizmailov/pybind11-stubgen) and [numpy(>=1.11.0)](https://numpy.org/). These can all be installed as follows:
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```bash
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pip install -r <gtsam_folder>/python/dev_requirements.txt
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```
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## Install
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- 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:
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```bash
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cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.6.10
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```
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If you do not have TBB installed, you should also provide the argument `-DGTSAM_WITH_TBB=OFF`.
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- Build GTSAM and the wrapper with `make` (or `ninja` if you use `-GNinja`).
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- To install, simply run `make python-install` (`ninja python-install`).
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- The same command can be used to install into a virtual environment if it is active.
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- **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.
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- You can also directly run `make python-install` without running `make`, and it will compile all the dependencies accordingly.
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## Unit Tests
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The Python toolbox also has a small set of unit tests located in the
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test directory.
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To run them, use `make python-test`.
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## Utils
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TODO
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## Examples
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TODO
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## Writing Your Own Scripts
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See the tests for examples.
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### Some Important Notes:
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- Vector/Matrix:
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- GTSAM expects double-precision floating point vectors and matrices.
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Hence, you should pass numpy matrices with `dtype=float`, or `float64`, to avoid any conversion needed.
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- Also, GTSAM expects _column-major_ matrices, unlike the default storage
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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
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and storage order.
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## Wrapping Custom GTSAM-based Project
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Please refer to the template project and the corresponding tutorial available [here](https://github.com/borglab/GTSAM-project-python).
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