Install issues

[dellaert]

David

when installing SE-Sync I ran into the following issues:

General issues

• copying code blocks from README include the "$". That should not happen.
• I think you need to upgrade cmake minimum in your makefiles to 3.10

CMake Deprecation Warning at Preconditioners/CMakeLists.txt:3 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of CMake.

Python bindings

I don't have g2o files, so I tried creating relative measurements, but I can't get past a segfault. This crashes:

        measurements = {
            (0, 1, 1.0): np.array([[1, 0], [0, 1]], dtype=float),
            (1, 2, 1.0): np.array([[0, -1], [1, 0]], dtype=float),
        }

        # Convert measurements to PySESync format

        relative_measurements = []
        for (i, j, kappa), R in measurements.items():
            z = PySESync.RelativePoseMeasurement(
                i, j, R, np.zeros(3, dtype=float), kappa, 0.0
            )
            relative_measurements.append(z)

Attempt at Installing on Mac:

I gave up, as it did not work, even after brew install eigen suite-sparse libomp.

• Issues with OMP includes. I tried turning off ENABLE_OPENMP in top-level makefile but that does not fix it.
• SUITESPARSE_LIBRARY SUITESPARSE_LIBRARY-NOTFOUND even though it is installed via brew