Installation

Precompiled wheel

We build precompiled binary wheels that should hopefully work on most newer Linux distributions. Download the kontiki-X.Y-cp36-cp36m-linux_x86_64.whl file from the GitHub release page. The run:

pip install /path/to/kontiki-X.Y-cp36-cp36m-linux_x86_64.whl

Note that this requires that you have the Ceres-Solver shared library (libceres.so.1), and its dependencies, installed on your system.

From source

Requirements

  • Python 3.6+ and development headers
  • A C++14 compiler
  • pybind11
  • Eigen3
  • Ceres-Solver
  • CMake
  • scipy
  • numpy
  • h5py
  • Sophus (use commit 00f3fd91c153ef04)
  • pytest (optional)

To install all dependencies (except Sophus) on Ubuntu 18.04 run:

apt-get install git build-essential cmake python3-dev python3-setuptools python3-pytest python3-scipy python3-h5py libceres-dev

Instructions

  1. Clone the source code from the repository at https://github.com/hovren/kontiki.
  2. From kontiki/python/ run python3 setup.py install