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README2.rst

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+graphslam
+=========
+
+.. image:: https://github.com/JeffLIrion/python-graphslam/actions/workflows/python-package.yml/badge.svg?branch=master
+   :target: https://github.com/JeffLIrion/python-graphslam/actions/workflows/python-package.yml
+
+.. image:: https://coveralls.io/repos/github/JeffLIrion/python-graphslam/badge.svg?branch=master
+   :target: https://coveralls.io/github/JeffLIrion/python-graphslam?branch=master
+
+
+Documentation for this package can be found at https://python-graphslam.readthedocs.io/.
+
+
+This package implements a Graph SLAM solver in Python.
+
+Features
+--------
+
+- Optimize `R^2`, `R^3`, `SE(2)`, and `SE(3)` datasets
+- Analytic Jacobians
+- Supports odometry edges
+- Supports custom edge types (see `tests/test_custom_edge.py <https://github.com/JeffLIrion/python-graphslam/blob/master/tests/test_edge_odometry.py>`_ for an example)
+- Import and export .g2o files for `SE(2)` and `SE(3)` datasets
+
+
+Installation
+------------
+
+.. code-block::
+
+   pip install graphslam
+
+
+Example Usage
+-------------
+
+SE(3) Dataset
+^^^^^^^^^^^^^
+
+.. code-block:: python
+
+   >>> from graphslam.load import load_g2o
+
+   >>> g = load_g2o("data/parking-garage.g2o")  # https://lucacarlone.mit.edu/datasets/
+
+   >>> g.plot(vertex_markersize=1)
+
+   >>> g.calc_chi2()
+
+   16720.02100546733
+
+   >>> g.optimize()
+
+   >>> g.plot(vertex_markersize=1)
+
+
+**Output:**
+
+::
+
+   Iteration                chi^2        rel. change
+   ---------                -----        -----------
+           0           16720.0210
+           1              45.6644          -0.997269
+           2               1.2936          -0.971671
+           3               1.2387          -0.042457
+           4               1.2387          -0.000001
+
+
++-----------------------------------------------------------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------+
+| **Original**                                                                                                          | **Optimized**                                                                                                                   |
++-----------------------------------------------------------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------+
+| .. image:: https://raw.githubusercontent.com/JeffLIrion/python-graphslam/master/docs/source/images/parking-garage.png | .. image:: https://raw.githubusercontent.com/JeffLIrion/python-graphslam/master/docs/source/images/parking-garage-optimized.png |
++-----------------------------------------------------------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------+
+
+
+SE(2) Dataset
+^^^^^^^^^^^^^
+
+.. code-block:: python
+
+   >>> from graphslam.load import load_g2o
+
+   >>> g = load_g2o("data/input_INTEL.g2o")  # https://lucacarlone.mit.edu/datasets/
+
+   >>> g.plot()
+
+   >>> g.calc_chi2()
+
+   7191686.382493544
+
+   >>> g.optimize()
+
+   >>> g.plot()
+
+
+**Output:**
+
+::
+
+   Iteration                chi^2        rel. change
+   ---------                -----        -----------
+           0         7191686.3825
+           1       319950425.6477          43.488929
+           2       124950341.8035          -0.609470
+           3          338165.0770          -0.997294
+           4             734.7343          -0.997827
+           5             215.8405          -0.706233
+           6             215.8405          -0.000000
+
+
++--------------------------------------------------------------------------------------------------------------------+------------------------------------------------------------------------------------------------------------------------------+
+| **Original**                                                                                                       | **Optimized**                                                                                                                |
++--------------------------------------------------------------------------------------------------------------------+------------------------------------------------------------------------------------------------------------------------------+
+| .. image:: https://raw.githubusercontent.com/JeffLIrion/python-graphslam/master/docs/source/images/input_INTEL.png | .. image:: https://raw.githubusercontent.com/JeffLIrion/python-graphslam/master/docs/source/images/input_INTEL-optimized.png |
++--------------------------------------------------------------------------------------------------------------------+------------------------------------------------------------------------------------------------------------------------------+
+
+References and Acknowledgments
+------------------------------
+
+
+1. Grisetti, G., Kummerle, R., Stachniss, C. and Burgard, W., 2010. `A tutorial on graph-based SLAM <http://domino.informatik.uni-freiburg.de/teaching/ws10/praktikum/slamtutorial.pdf>`_. IEEE Intelligent Transportation Systems Magazine, 2(4), pp.31-43.
+2. Blanco, J.L., 2010. `A tutorial on SE(3) transformation parameterizations and on-manifold optimization <http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.468.5407&rep=rep1&type=pdf>`_. University of Malaga, Tech. Rep, 3.
+3. Carlone, L., Tron, R., Daniilidis, K. and Dellaert, F., 2015, May. `Initialization techniques for 3D SLAM: a survey on rotation estimation and its use in pose graph optimization <https://smartech.gatech.edu/bitstream/handle/1853/53710/Carlone15icra.pdf>`_. In 2015 IEEE international conference on robotics and automation (ICRA) (pp. 4597-4604). IEEE.
+4. Carlone, L. and Censi, A., 2014. `From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization <https://arxiv.org/pdf/1211.3063.pdf>`_. IEEE Transactions on Robotics, 30(2), pp.475-492.
+
+
+Thanks to Luca Larlone for allowing inclusion of the `Intel and parking garage datasets <https://lucacarlone.mit.edu/datasets/>`_ in this repo.
+
+
+Live Coding Graph SLAM in Python
+--------------------------------
+
+If you're interested, you can watch as I coded this up.
+
+1. `Live coding Graph SLAM in Python (Part 1) <https://youtu.be/yXWkNC_A_YE>`_
+2. `Live coding Graph SLAM in Python (Part 2) <https://youtu.be/M2udkF0UNUg>`_
+3. `Live coding Graph SLAM in Python (Part 3) <https://youtu.be/CiBdVcIObVU>`_
+4. `Live coding Graph SLAM in Python (Part 4) <https://youtu.be/GBAThis-_wM>`_
+5. `Live coding Graph SLAM in Python (Part 5) <https://youtu.be/J3NyieGVwIw>`_