Iterator over Variables and FactorGraph in Python

[itzsid]

Hi Jing/Zhaoyang,

Great work with the library especially the Python wrapper. I was playing with it and I was not able to iterate over Variables. I could iterate over FactorGraph but I was not able to extract anything out of each factor.

I tried iterating like this:

 for key in initials:
     print(key)

And I get an error:

Traceback (most recent call last):
  File "gps_factor_example.py", line 109, in <module>
    for key in initials:
KeyError: '[python::Variables] key does not exist'

Wondering if I am doing something wrong or this is not supported yet.

[dongjing3309]

Hi Sidd @itzsid ! I don't think the key iterator is implemented now. I will have a look, and if you want to have a look ahead, the location of the python binding of Variables is at python/minisam_wrapper/variables.cpp, which needs some pybind11 knowledge to understand :)