PyFactorGraph

The primary purpose of this is so that people working in Python can avoid having to re-write different data providers for each project and data set they work on. The factor graph object and functions provided here allow for {reading, writing, accessing} of measurements and variables.

We provide examples for working with the Extended Factor Graph format (.fg) and pickled FactorGraphData objects (.pickle) in the /examples directory.

Also potentially useful, auto-documentation of this code can be found in the /docs directory.

Getting Started

Installing this package is quick and easy!

pip install git+https://github.com/MarineRoboticsGroup/PyFactorGraph

Ta-da you should be ready to go!

Contributing

If you want to contribute a new feature to this package please read this brief section.

Code Standards

Any necessary coding standards are enforced through pre-commit. This will run a series of hooks when attempting to commit code to this repo. Additionally, we run a pre-commit hook to auto-generate the documentation of this library to make sure it is always up to date.

To set up pre-commit

cd ~/PyFactorGraph
pip3 install pre-commit
pre-commit install

Testing

If you want to develop this package and test it from an external package you can also install via

cd ~/PyFactorGraph
pip install -e .

The -e flag will make sure that any changes you make here are automatically translated to the external library you are working in.