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