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Basic Sparse-Cholesky Graph SLAM solver implemented in python

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pyslam

Basic Sparse-Cholesky Graph SLAM solver implemented in python

Requirements

  • numpy >= 1.12
  • scipy >= 0.18
  • cython >= 0.25
  • scikit-sparse >= 0.4.2
  • suitesparse-dev

On Ubuntu 16.04:

apt-get install libsuitesparse-dev
pip install future numpy scipy cython scikit-sparse

Invocation

python slam_solver.py datasets/M3500a.g2o

The resulting optimized SLAM graph is rendered as HTML and saved in /tmp/graph.html

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Basic Sparse-Cholesky Graph SLAM solver implemented in python

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