79 lines
2.8 KiB
Markdown
79 lines
2.8 KiB
Markdown
|
|
# WRAP
|
|
|
|
The wrap library wraps the GTSAM library into a Python library or MATLAB toolbox.
|
|
It was designed to be more general than just wrapping GTSAM. For notes on creating a wrap interface, see `gtsam.h` for what features can be wrapped into a toolbox, as well as the current state of the toolbox for GTSAM.
|
|
|
|
## Prerequisites: Pybind11 and pyparsing
|
|
|
|
1. This library uses `pybind11`, which is included as a subdirectory in GTSAM.
|
|
2. The `interface_parser.py` in this library uses `pyparsing` to parse the interface file `gtsam.h`. Please install it first in your current Python environment before attempting the build.
|
|
|
|
```
|
|
python3 -m pip install pyparsing
|
|
```
|
|
|
|
## Getting Started
|
|
|
|
Clone this repository to your local machine and perform the standard CMake install:
|
|
|
|
```sh
|
|
mkdir build && cd build
|
|
cmake ..
|
|
make install # use sudo if needed
|
|
```
|
|
|
|
Using `wrap` in your project is straightforward from here. In your `CMakeLists.txt` file, you just need to add the following:
|
|
|
|
```cmake
|
|
find_package(gtwrap)
|
|
|
|
pybind_wrap(${PROJECT_NAME}_py # target
|
|
${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h # interface header file
|
|
"${PROJECT_NAME}.cpp" # the generated cpp
|
|
"${PROJECT_NAME}" # module_name
|
|
"${PROJECT_MODULE_NAME}" # top namespace in the cpp file e.g. gtsam
|
|
"${ignore}" # ignore classes
|
|
${PROJECT_BINARY_DIR}/${PROJECT_NAME}.tpl # the wrapping template file
|
|
${PROJECT_NAME} # libs
|
|
"${PROJECT_NAME}" # dependencies
|
|
ON # use boost
|
|
)
|
|
```
|
|
|
|
For more information, please follow our [tutorial](https://github.com/borglab/gtsam-project-python).
|
|
|
|
## GTSAM Python wrapper
|
|
|
|
**WARNING: On macOS, you have to statically build GTSAM to use the wrapper.**
|
|
|
|
1. Set `GTSAM_BUILD_PYTHON=ON` while configuring the build with `cmake`.
|
|
1. What you can do in the `build` folder:
|
|
1. Just run python then import GTSAM and play around:
|
|
```
|
|
|
|
import gtsam
|
|
gtsam.__dir__()
|
|
```
|
|
|
|
1. Run the unittests:
|
|
```
|
|
python -m unittest discover
|
|
```
|
|
1. Edit the unittests in `python/gtsam/*.py` and simply rerun the test.
|
|
They were symlinked to `<build_folder>/gtsam/*.py` to facilitate fast development.
|
|
```
|
|
python -m unittest gtsam/tests/test_Pose3.py
|
|
```
|
|
- NOTE: You might need to re-run `cmake ..` if files are deleted or added.
|
|
1. Do `make install` and `cd <gtsam_install_folder>/python`. Here, you can:
|
|
1. Run the unittests:
|
|
```
|
|
python setup.py test
|
|
```
|
|
2. Install `gtsam` to your current Python environment.
|
|
```
|
|
python setup.py install
|
|
```
|
|
- NOTE: It's a good idea to create a virtual environment otherwise it will be installed in your system Python's site-packages.
|