MSc-Thesis 'Pose-parameter graph optimisation' of Art van Liere
Pose-parameter graph simulation and analysis Python framework:
- Python 3.8+
- pip3 (with
apt install python3-pip) - numpy (with
pip3 install numpy) - scipy (with
pip3 install scipy) - matplotlib (with
pip3 install matplotlib) - pyqt5 (with
pip3 install pyqt5) - pyqtgraph (with
pip3 install pyqtgraph) - pyopengl (with
pip3 install pyopengl)
g2o:
- cmake (with
apt install cmake) - eigen3 (with
apt install libeigen3-dev) - optional (for g2o gui): suitesparse (with
apt install libsuitesparse-dev) - optional (for g2o gui): Qt5 (with
apt install qtdeclarative5-devandapt install qt5-qmake) - optional (for g2o gui): libQGLViewer (with
apt install libqglviewer-dev-qt5)
Self-Calibrating SLAM Python framework:
- in root folder:
pip3 install -e .(i.e.,pip3 install -e path/to/self-calibrating-slam/) - if encountering 'xcb platform plugin error' (could occur in VirtualBox), try:
sudo apt-get install --reinstall libxcb-xinerama0
g2o:
- in
g2o/directory (cd g2o):mkdir build - in
build/directory (cd build):cmake ../ - in
build/directory:make
The GUI intuitively allows for graph creation, optimisation and analysis.
- in
src/directory:python3 main.pyorpython3 gui/gui.py
Art van Liere
artvanliere@gmail.com
+31 6 51 66 18 75