Implementation of multiple hypothesis joint compatibility branch and bound (MHJCBB) in Robust Exploration with Multiple Hypothesis Data Association.
Install da branch in GTSAM. This will also build cython wrapper of GTSAM, which includes da_JCBB2 and da_MHJCBB2. Modify PYTHONPATH to include the GTSAM_CYTHON_INSTALL_PATH (usually /usr/local/cython),
export PYTHONPATH=$PYTHONPATH:<GTSAM_CYTHON_INSTALL_PATH>
See slam.py for detailed usage.