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distributed-slam's Introduction

Setup

For installation on a Linux machine, enter the following from the command line:

git clone https://github.com/jdriscoll7/distributed-slam
cd distributed-slam
sudo ./setup.sh

This will configure a Python virtual environment with all of the current dependencies, as well as download and install g2opy. The g2opy library provides Python bindings for g2o, a modern C++ PGO framework.

Examples

See the "test" directory for examples of how to run PGO on the datasets contained in this repository. A simple example can be run with

cd test
../venv/bin/python3 test_slam.py

which will output some g2o logging information, along with a plot of the raw input data and the PGO result as shown below.

distributed-slam's People

Contributors

jdriscoll7 avatar

Stargazers

avatar Matt Boler avatar davci avatar

Watchers

Rich Surgenor avatar avatar avatar

distributed-slam's Issues

fix

Richs-MBP:build Rich$ cmake ../
-- Compiling on OSX
-- Could NOT find CHOLMOD (missing: CHOLMOD_INCLUDE_DIR CHOLMOD_LIBRARIES)
-- Building LGPL code as static library (affects license of the binary)
-- Compiling with OpenGL support
-- Could NOT find QGLVIEWER (missing: QGLVIEWER_INCLUDE_DIR QGLVIEWER_LIBRARY)
-- Compiling with Clang
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_INCLUDE_DIR
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python
used as include directory in directory /Users/Rich/Documents/distributed-slam/g2opy/python

-- Configuring incomplete, errors occurred!
See also "/Users/Rich/Documents/distributed-slam/g2opy/build/CMakeFiles/CMakeOutput.log".
Richs-MBP:build Rich$

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