113 lines
5.3 KiB
Markdown
113 lines
5.3 KiB
Markdown
This is the Cython/Python wrapper around the GTSAM C++ library.
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INSTALL
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=======
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- This wrapper needs Cython(>=0.25), numpy and eigency, which can be installed
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as follows:
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```bash
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cd <gtsam_folder>/cython
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pip install -r requirements.txt
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pip install eigency
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```
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Note: Currently there's some issue with including eigency in requirements.txt
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- Build and install gtsam using cmake with GTSAM_INSTALL_CYTHON_TOOLBOX enabled
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Note: By default, the wrapped module will be installed in
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<your_installation_folder>/gtsam_cython. Change that in GTSAM_CYTHON_TOOLBOX_PATH
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UNIT TESTS
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==========
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The Cython toolbox also has a small set of unit tests located in the
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test directory. To run them:
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```bash
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cd /Users/yourname/gtsam_cython # Change to wherever you installed the toolbox
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python -m unittest discover
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```
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WRITING YOUR OWN SCRIPTS
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========================
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See the tests for examples.
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## Some important notes:
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- Vector/Matrix: Due to a design choice of eigency, numpy.array matrices with the default order='A'
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will always be transposed in C++ no matter how you transpose it in Python. Use order='F', or use
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two functions Vector and Matrix in gtsam_utils/np_utils.py for your conveniences. These two functions
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also help to avoid a common but very subtle bug of using integers when creating numpy arrays,
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e.g. np.array([1,2,3]). These can't be an input for gtsam functions as they only accept floating-point arrays.
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For more details, see: https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed
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- Inner namespace: Classes in inner namespace will be prefixed by <innerNamespace>_ in Python.
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Examples: noiseModel_Gaussian, noiseModel_mEstimator_Tukey
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- Casting from a base class to a derive class must be done explicitly.
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Examples:
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```Python
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noiseBase = factor.get_noiseModel()
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noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase)
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```
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KNOWN ISSUES
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============
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- Doesn't work with python3 installed from homebrew
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- size-related issue: can only wrap up to a certain number of classes: up to mEstimator!
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- Guess: 64 vs 32b? disutils Compiler flags?
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- Bug with Cython 0.24: instantiated factor classes return FastVector<size_t> for keys(), which can't be casted to FastVector<Key>
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- Upgrading to 0.25 solves the problem
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- Need default constructor and default copy constructor for almost every classes... :(
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- support these constructors by default and declare "delete" for special classes?
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TODO
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=====
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☐ Unify cython/gtsam.h and the original gtsam.h
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- 25-11-16:
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Try to unify but failed. Main reasons are: Key/size_t, std containers, KeyVector/KeyList/KeySet.
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Matlab doesn't need to know about Key, but I can't make Cython to ignore Key as it couldn't cast KeyVector, i.e. FastVector<Key>,
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to FastVector<size_t>.
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Completed/Cancelled:
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✔ CMake install script @done (25-11-16 02:30)
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✘ [REFACTOR] better name for uninstantiateClass: very vague!! @cancelled (25-11-16 02:30) -- lazy
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✘ forward declaration? @cancelled (23-11-16 13:00) - nothing to do, seem to work?
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✔ wrap VariableIndex: why is it in inference? If need to, shouldn't have constructors to specific FactorGraphs @done (23-11-16 13:00)
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✔ Global functions @done (22-11-16 21:00)
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✔ [REFACTOR] typesEqual --> isSameSignature @done (22-11-16 21:00)
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✔ Proper overloads (constructors, static methods, methods) @done (20-11-16 21:00)
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✔ Allow overloading methods. The current solution is annoying!!! @done (20-11-16 21:00)
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✔ Casting from parent and grandparents @done (16-11-16 17:00)
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✔ Allow overloading constructors. The current solution is annoying!!! @done (16-11-16 17:00)
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✔ Support "print obj" @done (16-11-16 17:00)
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✔ methods for FastVector: at, [], ... @done (16-11-16 17:00)
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✔ Cython: Key and size_t: traits<size_t> doesn't exist @done (16-09-12 18:34)
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✔ KeyVector, KeyList, KeySet... @done (16-09-13 17:19)
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✔ [Nice to have] parse typedef @done (16-09-13 17:19)
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✔ ctypedef at correct places @done (16-09-12 18:34)
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✔ expand template variable type in constructor/static methods? @done (16-09-12 18:34)
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✔ NonlinearOptimizer: copy constructor deleted!!! @done (16-09-13 17:20)
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✔ Value: no default constructor @done (16-09-13 17:20)
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✔ ctypedef PriorFactor[Vector] PriorFactorVector @done (16-09-19 12:25)
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✔ Delete duplicate methods in derived class @done (16-09-12 13:38)
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✔ Fix return properly @done (16-09-11 17:14)
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✔ handle pair @done (16-09-11 17:14)
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✔ Eigency: ambiguous call: A(const T&) A(const Vector& v) and Eigency A(Map[Vector]& v) @done (16-09-11 07:59)
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✔ Eigency: Constructor: ambiguous construct from Vector/Matrix @done (16-09-11 07:59)
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✔ Eigency: Fix method template of Vector/Matrix: template argument is [Vector] while arugment is Map[Vector] @done (16-09-11 08:22)
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✔ Robust noise: copy assignment operator is deleted because of shared_ptr of the abstract Base class @done (16-09-10 09:05)
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✘ Cython: Constructor: generate default constructor? (hack: if it's serializable?) @cancelled (16-09-13 17:20)
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✘ Eigency: Map[] to Block @created(16-09-10 07:59) @cancelled (16-09-11 08:28)
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- inference before symbolic/linear
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- what's the purpose of "virtual" ??
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Installation:
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☐ Prerequisite:
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- Users create venv and pip install requirements before compiling
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- Wrap cython script in gtsam/cython folder
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☐ Install built module into venv?
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