Python 3.12.3

[delipl]

Could you release the package for Python 3.12.3?

[sinaenjuni]

You can use the g2o library in the Python 3.12 version.

1. git clone https://github.com/miquelmassot/g2o-python
2. cd g2o-python/g2o
3. git clone https://github.com/RainerKuemmerle/g2o.git
4. git checkout pymem
5. cd ..
6. pip install -v .
   end.

If you are using the pose optimization feature, it is recommended to modify it from line 91 of the file 'g2o/python/types/SBA/py_types_6_dof_expamp.cpp' because you can't use the fx, fy, cx, cy, Xw member variables.

  py::class_<EdgeSE3ProjectXYZOnlyPose,
             BaseUnaryEdge<2, Vector2, VertexSE3Expmap>,
             std::shared_ptr<EdgeSE3ProjectXYZOnlyPose>>(
      m, "EdgeSE3ProjectXYZOnlyPose")
      .def(py::init<>())
      .def("compute_error", &EdgeSE3ProjectXYZOnlyPose::computeError)
      .def("is_depth_positive", &EdgeSE3ProjectXYZOnlyPose::isDepthPositive)
      .def("linearize_oplus", &EdgeSE3ProjectXYZOnlyPose::linearizeOplus)
      .def("cam_project", &EdgeSE3ProjectXYZOnlyPose::cam_project)
      .def_readwrite("fx", &EdgeSE3ProjectXYZOnlyPose::fx)
      .def_readwrite("fy", &EdgeSE3ProjectXYZOnlyPose::fy)
      .def_readwrite("cx", &EdgeSE3ProjectXYZOnlyPose::cx)
      .def_readwrite("cy", &EdgeSE3ProjectXYZOnlyPose::cy)
      .def_readwrite("Xw", &EdgeSE3ProjectXYZOnlyPose::Xw);
  // Projection using focal_length in x and y directions stereo
  py::class_<EdgeStereoSE3ProjectXYZ,
             BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap>,
             std::shared_ptr<EdgeStereoSE3ProjectXYZ>>(
      m, "EdgeStereoSE3ProjectXYZ")
      .def(py::init<>())
      .def("compute_error", &EdgeStereoSE3ProjectXYZ::computeError)
      .def("is_depth_positive", &EdgeStereoSE3ProjectXYZ::isDepthPositive)
      .def("linearize_oplus", &EdgeStereoSE3ProjectXYZ::linearizeOplus)
      .def("cam_project", &EdgeStereoSE3ProjectXYZ::cam_project)
      .def_readwrite("fx", &EdgeStereoSE3ProjectXYZ::fx)
      .def_readwrite("fy", &EdgeStereoSE3ProjectXYZ::fy)
      .def_readwrite("cx", &EdgeStereoSE3ProjectXYZ::cx)
      .def_readwrite("cy", &EdgeStereoSE3ProjectXYZ::cy)
      .def_readwrite("bf", &EdgeStereoSE3ProjectXYZ::bf);

[Therkelsen]

1. git clone https://github.com/miquelmassot/g2o-python
2. cd g2o-python/g2o
3. git clone https://github.com/RainerKuemmerle/g2o.git
4. git checkout pymem
5. cd ..
6. pip install -v .

This didn't quite work on my machine, however the following flow did:

Install deps:

1. pip install nlohmann-json exceptiongroup
2. sudo apt install libmetis-dev python3.10-dev

Install g2o

1. git clone https://github.com/miquelmassot/g2o-python
2. cd g2o-python
3. git clone https://github.com/RainerKuemmerle/g2o.git
4. cd g2o
5. git checkout pymem
6. cd ../
7. pip install -v .