GitHub - dklee98/graph_based_SLAM: ICP and g2o optimization

Branches Tags

Name		Name	Last commit message	Last commit date
Latest commit History 3 Commits
data		data
figure		figure
prereq/g2opy		prereq/g2opy
README		README
afterSLAM.g2o		afterSLAM.g2o
beforeSLAM.g2o		beforeSLAM.g2o
icp.py		icp.py
icp.pyc		icp.pyc
optimizer.py		optimizer.py
optimizer.pyc		optimizer.pyc
slam.py		slam.py

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Dependencies for G2O(UBUNTU)

libsuitesparse-dev
qtdeclarative5-dev
qt5-qmake
libqglviewer-dev


Install command (for Python 2.7)

cd prereq/g2opy
mkdir build
cd build
cmake .. -DPYBIND11_PYTHON_VERSION=2.7
make -j8 # core
cd ..
python setup.py install

Python dependencies (for Python 2.7)

pip install scipy


python slam.py