Basic Sparse-Cholesky Graph SLAM solver implemented in python
- 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-sparsepython slam_solver.py datasets/M3500a.g2oThe resulting optimized SLAM graph is rendered as HTML and saved in
/tmp/graph.html