Python API

A simple python binding is provided by wrapping some public interfaces of the estimator via pybind11. Check out pybind11/pyxivo.cpp for the available interfaces in python. With pybind11, it is relatively easy if you want to expose more interfaces of the C++ implementation to python.

An example of using the Python binding is available in scripts/pyxivo.py, which demonstrates estimator creation, data loading, and visualization in python.

After building, the built pyxivo libraries will be in xivo/lib. In order to let python use this library, you will need to add xibo/lib to your PYTHONPATH environment variable. In order to let PyCharm to include this environment variable as well, please refer to this guide.

To run the demo, execute:

python scripts/pyxivo.py -cfg cfg/phab.json -root $DATAROOT -seq data9_workbench -dataset xivo -use_viewer

in the project root directory. The command-line options are more or less the same as the C++ executable. For detailed usage, you can look at the options defined at the beginning of the script scripts/pyxivo.py. Note you might need to install some python dependencies by executing the following in the project root directory:

pip install -r requirements.txt

Note: Since Python 2 is no longer being supported, we are only supporting Python 3. If your default Python version (output of which python) is below Python 3, then in build.sh, you will need to change the line

cmake .. -DBUILD_G2O=$BUILD_G2O -DUSE_GPERFTOOLS=$USE_GPERFTOOLS

to

cmake .. -DBUILD_G2O=$BUILD_G2O -DUSE_GPERFTOOLS=$USE_GPERFTOOLS -DPYTHON_EXECUTABLE=/usr/bin/python3