Project template using GTSAM + Python wrapping

• Python 3.6+ is required, since we support these versions.

• To install the wrap package via GTSAM:

  • Set the CMake flag GTSAM_BUILD_PYTHON to ON to enable building the Pybind11 wrapper.

  • Set the CMake flag GTSAM_PYTHON_VERSION to 3.x (e.g. 3.7), otherwise the default interpreter will be used.

  • You can do this on the command line as follows:

    cmake -DGTSAM_BUILD_PYTHON=ON -DGTSAM_PYTHON_VERSION=3.7 ..

• Alternatively, you can install the wrap package directly from the repo, but you will still need to install GTSAM.

• In the top-level directory, create the build directory and cd into it.
• Run cmake ...
• Run make, and the wrapped module will be installed to the python directory in the top-level.
• To install the wrapped module, simply run make python-install.
• You can also run python main.py which calls the wrapped module, to get a flavor of how it works.

For more detailed information, please refer to the tutorial.