Use GSLAM in Python

One core target of Svar is to provide multiple language support, but for now, only python is supported partly.

Most interfaces are exposed using Svar.

Warning

This module is still experimental.

Compile and Install

We recommend to install with pip3, after cloning from github:

pip3 install GSLAM

After success installed, you can see the documentation with:

import gslam
help(gslam)

as follows:

Help on module svar:

NAME
    svar - This is the python APIs for GSLAM 3.0.0(https://github.com/zdzhaoyong/GSLAM)

CLASSES
    builtins.object
        svar_builtins.Camera
        svar_builtins.Dataset
        svar_builtins.FileResource
        svar_builtins.FrameConnection
        svar_builtins.GImage
        svar_builtins.Map
        svar_builtins.MapFrame
        svar_builtins.MapPoint
        svar_builtins.Messenger
        svar_builtins.Point2d
        svar_builtins.Point3d
        svar_builtins.Point3ub
        svar_builtins.Publisher
        svar_builtins.SE3
        svar_builtins.SIM3
        svar_builtins.SO3
        svar_builtins.Subscriber
        svar_builtins.TicToc
        svar_builtins.Undistorter
        svar_builtins.Vocabulary

    class Camera(builtins.object)
     |  Methods defined here:
     |
     |  CameraType = Camera.CameraType(...) from builtins.PyCapsule
     |      (GSLAM::Camera const*)->str
     |
     |  Project = Camera.Project(...) from builtins.PyCapsule
     |      (GSLAM::Camera const*,GSLAM::Point3_<double>)->Point2d
     |
     |  UnProject = Camera.UnProject(...) from builtins.PyCapsule
     |      (GSLAM::Camera const*,GSLAM::Point2_<double>)->Point3d

Import Other Svar Modules

For a Svar module shared library 'libdemo.so", users can load it as a python module with 'gslam.load()':

// the libdemo.so source code
#include <GSLAM/core/GSLAM.h>

REGISTER_SVAR_MODULE(demo){
  svar["sayHello"]=SvarFunction([](){LOG(INFO)<<"Hello world";});
}

import gslam

demo=gslam.load('demo')

demo.sayHello()